diff --git a/autonomous_robotics_ros/src/CMakeLists.txt b/autonomous_robotics_ros/src/CMakeLists.txt index 581e61d..66dd650 120000 --- a/autonomous_robotics_ros/src/CMakeLists.txt +++ b/autonomous_robotics_ros/src/CMakeLists.txt @@ -1 +1 @@ -/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file +/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/.cproject b/autonomous_robotics_ros/src/kobuki_bumper2pc/.cproject old mode 100755 new mode 100644 similarity index 55% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/.cproject rename to autonomous_robotics_ros/src/kobuki_bumper2pc/.cproject index f5f4289..35c55c4 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/.cproject +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/.cproject @@ -3,8 +3,8 @@ - - + + @@ -16,23 +16,20 @@ - - - - - - - - + + + + + + + + - - + + - - - - - + + @@ -42,12 +39,13 @@ - + - + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.project b/autonomous_robotics_ros/src/kobuki_bumper2pc/.project old mode 100755 new mode 100644 similarity index 98% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.project rename to autonomous_robotics_ros/src/kobuki_bumper2pc/.project index 3b1869f..3e2ce6a --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.project +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/.project @@ -1,6 +1,6 @@ - turtlebot_apps + kobuki_bumper2pc diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/CHANGELOG.rst b/autonomous_robotics_ros/src/kobuki_bumper2pc/CHANGELOG.rst new file mode 100644 index 0000000..7ee976e --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/CHANGELOG.rst @@ -0,0 +1,56 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package kobuki_bumper2pc +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.6 (2015-05-27) +------------------ + +0.6.5 (2014-11-21) +------------------ + +0.6.4 (2014-08-26) +------------------ + +0.6.3 (2014-08-25) +------------------ + +0.6.2 (2014-08-11) +------------------ + +0.6.1 (2014-08-08) +------------------ + +0.6.0 (2014-08-08) +------------------ +* added comments to explain about the faraway points +* added side_point_angle param to change the angle of the bumper pointcloud's side points +* Add missing run dependency on yocs_cmd_vel_mux +* Contributors: Jorge Santos, Kaijen Hsiao + +0.5.5 (2013-10-11) +------------------ + +0.5.4 (2013-09-06) +------------------ + +0.5.3 (2013-08-30) +------------------ + +0.5.0 (2013-08-29) +------------------ +* kobuki : Added extra url info on all packages. +* Fix URL to the previous changelog wiki. +* Changelogs at package level. + +0.4.0 (2013-08-09) +------------------ +* Remove the dependency on pcl-ros. We compose sensor_msgs/PointCloud2 messages by hand, replacing pcl dependency by sensor_msgs one. +* Fixed Eigenlib alignment error on 32 bit architectures. +* Publish the pc continuously as long as bumper/cliff events are present. +* Publish stamped pointcloud. + + +Previous versions, bugfixing +============================ + +Available in ROS wiki: http://ros.org/wiki/kobuki/ChangeList diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_bumper2pc/CMakeLists.txt new file mode 100644 index 0000000..edef934 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/CMakeLists.txt @@ -0,0 +1,28 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kobuki_bumper2pc) +find_package(catkin REQUIRED COMPONENTS roscpp nodelet pluginlib sensor_msgs kobuki_msgs) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES kobuki_bumper2pc_nodelet + CATKIN_DEPENDS roscpp nodelet pluginlib sensor_msgs kobuki_msgs +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +add_library(kobuki_bumper2pc_nodelet src/kobuki_bumper2pc.cpp) +add_dependencies(kobuki_bumper2pc_nodelet ${catkin_EXPORTED_TARGETS}) +target_link_libraries(kobuki_bumper2pc_nodelet ${catkin_LIBRARIES}) + +install(TARGETS kobuki_bumper2pc_nodelet + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(DIRECTORY plugins + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/include/kobuki_bumper2pc/kobuki_bumper2pc.hpp b/autonomous_robotics_ros/src/kobuki_bumper2pc/include/kobuki_bumper2pc/kobuki_bumper2pc.hpp new file mode 100644 index 0000000..642564c --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/include/kobuki_bumper2pc/kobuki_bumper2pc.hpp @@ -0,0 +1,107 @@ +/* + * Copyright (c) 2013, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /include/kobuki_bumper2pc/kobuki_bumper2pc.hpp + * + * @brief Bumper/cliff to pointcloud nodelet class declaration. + * + * Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them + * for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node. + * + * @author Jorge Santos, Yujin Robot + * + **/ + +#ifndef _KOBUKI_BUMPER2PC_HPP_ +#define _KOBUKI_BUMPER2PC_HPP_ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include + +#include + +#include + +/***************************************************************************** + ** Namespace + *****************************************************************************/ + +namespace kobuki_bumper2pc +{ + +/** + * @brief Bumper2PcNodelet class declaration + */ +class Bumper2PcNodelet : public nodelet::Nodelet +{ +public: + Bumper2PcNodelet() + : P_INF_X(+100*sin(0.34906585)), + P_INF_Y(+100*cos(0.34906585)), + N_INF_Y(-100*cos(0.34906585)), + ZERO(0), prev_bumper(0), prev_cliff(0) { } + ~Bumper2PcNodelet() { } + + void onInit(); + +private: + const float P_INF_X; // somewhere out of reach from the robot (positive x) + const float P_INF_Y; // somewhere out of reach from the robot (positive y) + const float N_INF_Y; // somewhere out of reach from the robot (negative y) + const float ZERO; + + uint8_t prev_bumper; + uint8_t prev_cliff; + + float pc_radius_; + float pc_height_; + float p_side_x_; + float p_side_y_; + float n_side_y_; + + ros::Publisher pointcloud_pub_; + ros::Subscriber core_sensor_sub_; + + sensor_msgs::PointCloud2 pointcloud_; + + /** + * @brief Core sensors state structure callback + * @param msg incoming topic message + */ + void coreSensorCB(const kobuki_msgs::SensorState::ConstPtr& msg); +}; + +} // namespace kobuki_bumper2pc + +#endif // _KOBUKI_BUMPER2PC_HPP_ diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/launch/standalone.launch b/autonomous_robotics_ros/src/kobuki_bumper2pc/launch/standalone.launch new file mode 100644 index 0000000..5d61247 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/launch/standalone.launch @@ -0,0 +1,18 @@ + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/package.xml b/autonomous_robotics_ros/src/kobuki_bumper2pc/package.xml new file mode 100644 index 0000000..f3fd4dd --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/package.xml @@ -0,0 +1,33 @@ + + kobuki_bumper2pc + 0.7.6 + + Bumper/cliff to pointcloud nodelet: + Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them + for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node. + + Jorge Santos Simon + Jorge Santos Simon + BSD + https://github.com/yujinrobot/kobuki/issues + https://github.com/yujinrobot/kobuki + http://ros.org/wiki/kobuki_bumper2pc + + catkin + + roscpp + nodelet + pluginlib + kobuki_msgs + sensor_msgs + + roscpp + nodelet + pluginlib + kobuki_msgs + sensor_msgs + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/plugins/nodelet_plugins.xml b/autonomous_robotics_ros/src/kobuki_bumper2pc/plugins/nodelet_plugins.xml new file mode 100644 index 0000000..47c184c --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/plugins/nodelet_plugins.xml @@ -0,0 +1,8 @@ + + + + Implementation for the bumper/cliff to pointcloud relay as a nodelet. + + + + diff --git a/autonomous_robotics_ros/src/kobuki_bumper2pc/src/kobuki_bumper2pc.cpp b/autonomous_robotics_ros/src/kobuki_bumper2pc/src/kobuki_bumper2pc.cpp new file mode 100644 index 0000000..e3a74a7 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_bumper2pc/src/kobuki_bumper2pc.cpp @@ -0,0 +1,140 @@ +/** + * @file /src/kobuki_bumper2pc.cpp + * + * @brief Bumper to pointcloud nodelet class implementation. + * + * @author Jorge Santos, Yujin Robot + * + **/ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include + +#include "kobuki_bumper2pc/kobuki_bumper2pc.hpp" + +namespace kobuki_bumper2pc +{ + +void Bumper2PcNodelet::coreSensorCB(const kobuki_msgs::SensorState::ConstPtr& msg) +{ + if (pointcloud_pub_.getNumSubscribers() == 0) + return; + + // We publish just one "no events" pc (with all three points far away) and stop spamming when bumper/cliff conditions disappear + if (! msg->bumper && ! msg->cliff && ! prev_bumper && ! prev_cliff) + return; + + prev_bumper = msg->bumper; + prev_cliff = msg->cliff; + + // We replicate the sensors order of bumper/cliff event messages: LEFT = 0, CENTER = 1 and RIGHT = 2 + // For any of {left/center/right} with no bumper/cliff event, we publish a faraway point that won't get used + if ((msg->bumper & kobuki_msgs::SensorState::BUMPER_LEFT) || + (msg->cliff & kobuki_msgs::SensorState::CLIFF_LEFT)) + { + memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[0].offset], &p_side_x_, sizeof(float)); + memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[1].offset], &p_side_y_, sizeof(float)); + } + else + { + memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[0].offset], &P_INF_X, sizeof(float)); + memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[1].offset], &P_INF_Y, sizeof(float)); + } + + if ((msg->bumper & kobuki_msgs::SensorState::BUMPER_CENTRE) || + (msg->cliff & kobuki_msgs::SensorState::CLIFF_CENTRE)) + { + memcpy(&pointcloud_.data[1 * pointcloud_.point_step + pointcloud_.fields[0].offset], &pc_radius_, sizeof(float)); + } + else + { + memcpy(&pointcloud_.data[1 * pointcloud_.point_step + pointcloud_.fields[0].offset], &P_INF_X, sizeof(float)); + } + + if ((msg->bumper & kobuki_msgs::SensorState::BUMPER_RIGHT) || + (msg->cliff & kobuki_msgs::SensorState::CLIFF_RIGHT)) + { + memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[0].offset], &p_side_x_, sizeof(float)); + memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[1].offset], &n_side_y_, sizeof(float)); + } + else + { + memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[0].offset], &P_INF_X, sizeof(float)); + memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[1].offset], &N_INF_Y, sizeof(float)); + } + + pointcloud_.header.stamp = msg->header.stamp; + pointcloud_pub_.publish(pointcloud_); +} + +void Bumper2PcNodelet::onInit() +{ + ros::NodeHandle nh = this->getPrivateNodeHandle(); + + // Bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus + // costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if + // it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), + // but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around + // them will probably fail. + std::string base_link_frame; + double r, h, angle; + nh.param("pointcloud_radius", r, 0.25); pc_radius_ = r; + nh.param("pointcloud_height", h, 0.04); pc_height_ = h; + nh.param("side_point_angle", angle, 0.34906585); + nh.param("base_link_frame", base_link_frame, "base_link"); + + // Lateral points x/y coordinates; we need to store float values to memcopy later + p_side_x_ = + pc_radius_*sin(angle); // angle degrees from vertical + p_side_y_ = + pc_radius_*cos(angle); // angle degrees from vertical + n_side_y_ = - pc_radius_*cos(angle); // angle degrees from vertical + + // Prepare constant parts of the pointcloud message to be published + pointcloud_.header.frame_id = base_link_frame; + pointcloud_.width = 3; + pointcloud_.height = 1; + pointcloud_.fields.resize(3); + + // Set x/y/z as the only fields + pointcloud_.fields[0].name = "x"; + pointcloud_.fields[1].name = "y"; + pointcloud_.fields[2].name = "z"; + + int offset = 0; + // All offsets are *4, as all field data types are float32 + for (size_t d = 0; d < pointcloud_.fields.size(); ++d, offset += 4) + { + pointcloud_.fields[d].count = 1; + pointcloud_.fields[d].offset = offset; + pointcloud_.fields[d].datatype = sensor_msgs::PointField::FLOAT32; + } + + pointcloud_.point_step = offset; + pointcloud_.row_step = pointcloud_.point_step * pointcloud_.width; + + pointcloud_.data.resize(3 * pointcloud_.point_step); + pointcloud_.is_bigendian = false; + pointcloud_.is_dense = true; + + // Bumper/cliff "points" fix coordinates (the others depend on sensor activation/deactivation) + + // y: always 0 for central bumper + memcpy(&pointcloud_.data[1 * pointcloud_.point_step + pointcloud_.fields[1].offset], &ZERO, sizeof(float)); + + // z: constant elevation from base frame + memcpy(&pointcloud_.data[0 * pointcloud_.point_step + pointcloud_.fields[2].offset], &pc_height_, sizeof(float)); + memcpy(&pointcloud_.data[1 * pointcloud_.point_step + pointcloud_.fields[2].offset], &pc_height_, sizeof(float)); + memcpy(&pointcloud_.data[2 * pointcloud_.point_step + pointcloud_.fields[2].offset], &pc_height_, sizeof(float)); + + pointcloud_pub_ = nh.advertise ("pointcloud", 10); + core_sensor_sub_ = nh.subscribe("core_sensors", 10, &Bumper2PcNodelet::coreSensorCB, this); + + ROS_INFO("Bumper/cliff pointcloud configured at distance %f and height %f from base frame", pc_radius_, pc_height_); +} + +} // namespace kobuki_bumper2pc + + +PLUGINLIB_EXPORT_CLASS(kobuki_bumper2pc::Bumper2PcNodelet, nodelet::Nodelet); diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/.cproject b/autonomous_robotics_ros/src/kobuki_description/.cproject old mode 100755 new mode 100644 similarity index 53% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/.cproject rename to autonomous_robotics_ros/src/kobuki_description/.cproject index 822fe8e..8ac14b7 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/.cproject +++ b/autonomous_robotics_ros/src/kobuki_description/.cproject @@ -3,8 +3,8 @@ - - + + @@ -16,17 +16,17 @@ - - - - - - - - - - - + + + + + + + + + + + @@ -35,7 +35,7 @@ - + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.project b/autonomous_robotics_ros/src/kobuki_description/.project old mode 100755 new mode 100644 similarity index 98% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.project rename to autonomous_robotics_ros/src/kobuki_description/.project index 846339d..bc7af82 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.project +++ b/autonomous_robotics_ros/src/kobuki_description/.project @@ -1,6 +1,6 @@ - turtlebot_follower + kobuki_description diff --git a/autonomous_robotics_ros/src/kobuki_description/CHANGELOG.rst b/autonomous_robotics_ros/src/kobuki_description/CHANGELOG.rst new file mode 100644 index 0000000..9977cb0 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/CHANGELOG.rst @@ -0,0 +1,49 @@ +========= +Changelog +========= + +0.7.4 (2017-04-01) +------------------ +* redirect gazebo bumper contact sensor for the new gazebo + +0.6.0 (2014-08-08) +------------------ +* update body friction and revert torque limit +* update kobuki_gazebo.urdf.xacro to make gazebo simulation more stable. +* Add missing run dependency on yocs_cmd_vel_mux +* Contributors: John Hsu, Jorge Santos + +0.5.5 (2013-10-11) +------------------ + +0.5.4 (2013-09-06) +------------------ + +0.5.3 (2013-08-30) +------------------ +* disables vertical rays for the cliff sensors. +* slightly increases collision model for the base. + +0.5.0 (2013-08-29) +------------------ +* fixes collision object name for gazebo contact sensor. +* changes center cliff sensor name. +* changes simulated IMU. +* Added extra url info on all packages. +* Updated old rnd email address. +* Fix URL to the previous changelog wiki. +* Changelogs at package level. +* Do not use robot_pose_ekf. Instead, use imu for heading and encoders por x and y. However, parameter use_imu_heading makes trivial to switch back to the previous system. +* corrects inertia and center of mass using an approximation. + +0.4.0 (2013-08-09) +------------------ +* Many Gazebo 1.9+ related fixes. +* Update urdf and mesh files. +* We can recuperate the catkin version of this package because xacro has been (finally) catkinized. + + +Previous versions, bugfixing +============================ + +Available in ROS wiki: http://ros.org/wiki/kobuki/ChangeList diff --git a/autonomous_robotics_ros/src/kobuki_description/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_description/CMakeLists.txt new file mode 100644 index 0000000..f1197d9 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kobuki_description) +find_package(catkin REQUIRED COMPONENTS urdf xacro) + +catkin_package( + CATKIN_DEPENDS urdf xacro +) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY meshes + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY rviz + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_description/launch/view_model.launch b/autonomous_robotics_ros/src/kobuki_description/launch/view_model.launch new file mode 100644 index 0000000..333ea6a --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/launch/view_model.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_description/meshes/images/main_body.jpg b/autonomous_robotics_ros/src/kobuki_description/meshes/images/main_body.jpg new file mode 100644 index 0000000..842742e Binary files /dev/null and b/autonomous_robotics_ros/src/kobuki_description/meshes/images/main_body.jpg differ diff --git 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+ + + + + + + + + 0 0 0 + + + + + + + ./images/wheel.jpg + + + + + + + + + 1.91069e-15 -1 -4.37114e-8 0 -4.37114e-8 -4.37114e-8 1 -3.7253e-9 -1 0 -4.37114e-8 -3.0268e-7 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/kobuki_description/package.xml b/autonomous_robotics_ros/src/kobuki_description/package.xml new file mode 100644 index 0000000..1b1b57f --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/package.xml @@ -0,0 +1,29 @@ + + kobuki_description + 0.7.6 + + Description of the Kobuki model. + Provides the model description of Kobuki for simulation and visualisation. The files in this + package are parsed and used by a variety of other components. Most users will not interact directly + with this package. + + WARNING: This package is disabled because it cannot be catkinized by now, as xacro dependency is not + catkin still. In the interim we use a unary pre-catkin stack named kobuki_description. + + Daniel Stonier + Marcus Liebhardt + Younghun Ju + Younghun Ju + BSD + https://github.com/yujinrobot/kobuki/issues + https://github.com/yujinrobot/kobuki + http://ros.org/wiki/kobuki_description + + catkin + + urdf + xacro + + urdf + xacro + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/model.rviz b/autonomous_robotics_ros/src/kobuki_description/rviz/model.rviz old mode 100755 new mode 100644 similarity index 50% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/model.rviz rename to autonomous_robotics_ros/src/kobuki_description/rviz/model.rviz index f862ed8..5987509 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/model.rviz +++ b/autonomous_robotics_ros/src/kobuki_description/rviz/model.rviz @@ -5,11 +5,11 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 - - /Status1 - - /Grid1 - /RobotModel1 + - /TF1 + - /TF1/Frames1 Splitter Ratio: 0.5 - Tree Height: 673 + Tree Height: 627 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -39,7 +39,6 @@ Visualization Manager: Name: Grid Normal Cell Count: 0 Offset: - Value: 0; 0; 0 X: 0 Y: 0 Z: 0 @@ -62,116 +61,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true wheel_left_link: Alpha: 1 Show Axes: false @@ -188,6 +77,49 @@ Visualization Manager: Update Interval: 0 Value: true Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + /base_footprint: + Value: true + /base_link: + Value: true + /cliff_sensor_front_link: + Value: true + /cliff_sensor_left_link: + Value: true + /cliff_sensor_right_link: + Value: true + /gyro_link: + Value: true + /wheel_left_link: + Value: true + /wheel_right_link: + Value: true + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: false + Show Axes: false + Show Names: false + Tree: + /base_footprint: + /base_link: + /cliff_sensor_front_link: + {} + /cliff_sensor_left_link: + {} + /cliff_sensor_right_link: + {} + /gyro_link: + {} + /wheel_left_link: + {} + /wheel_right_link: + {} + Update Interval: 0 + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -205,24 +137,33 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 1.18557 + Distance: 1.44857 Focal Point: - Value: 0; 0; 0 X: 0 Y: 0 Z: 0 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.490399 + Pitch: 0.435398 Target Frame: Value: Orbit (rviz) - Yaw: 5.71357 + Yaw: 1.5654 Saved: ~ Window Geometry: - Height: 916 + Displays: + collapsed: false + Height: 880 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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- Width: 1428 - X: 56 - Y: -31 + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1210 + X: 51 + Y: -60 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro b/autonomous_robotics_ros/src/kobuki_description/urdf/common_properties.urdf.xacro old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro rename to autonomous_robotics_ros/src/kobuki_description/urdf/common_properties.urdf.xacro diff --git a/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki.urdf.xacro b/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki.urdf.xacro new file mode 100644 index 0000000..4f089fe --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki.urdf.xacro @@ -0,0 +1,227 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki_gazebo.urdf.xacro b/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki_gazebo.urdf.xacro new file mode 100644 index 0000000..7fb8e95 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki_gazebo.urdf.xacro @@ -0,0 +1,190 @@ + + + + + + 1.0 + 1.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 1.0 + 1.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.0 + 0.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.0 + 0.0 + 1000000.0 + 100.0 + 0.001 + 1.0 + + + + 0.3 + 0.3 + + 1 + 50.0 + true + + base_footprint_fixed_joint_lump__base_collision + + + + + + + true + 50 + true + + + + 50 + 1.0 + -0.0436 + 0.0436 + + + + + + + + + + + + 0.01 + 0.15 + 1.0 + + + + + + + + true + 50 + true + + + + 50 + 1.0 + -0.0436 + 0.0436 + + + + + + + + + + + + 0.01 + 0.15 + 1.0 + + + + + + + + true + 50 + true + + + + 50 + 1.0 + -0.0436 + 0.0436 + + + + + + + + + + + + 0.01 + 0.15 + 1.0 + + + + + + + + true + 50 + false + + + gaussian + + 0.0 + ${0.0014*0.0014} + 0.0 + 0.0 + + + 0.0 + 1.7e-2 + 0.1 + 0.001 + + + + + + + + + 1 + wheel_left_joint + wheel_right_joint + .230 + 0.070 + 1.0 + 0.6 + cliff_sensor_left + cliff_sensor_front + cliff_sensor_right + 0.04 + bumpers + imu + + + + diff --git a/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki_standalone.urdf.xacro b/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki_standalone.urdf.xacro new file mode 100644 index 0000000..030261d --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_description/urdf/kobuki_standalone.urdf.xacro @@ -0,0 +1,11 @@ + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/.cproject b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/.cproject new file mode 100644 index 0000000..9dbaed2 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/.cproject @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.project b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/.project old mode 100755 new mode 100644 similarity index 98% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.project rename to autonomous_robotics_ros/src/kobuki_gazebo_plugins/.project index e4de89f..0fb3b09 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.project +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/.project @@ -1,6 +1,6 @@ - turtlebot_dashboard + kobuki_gazebo_plugins diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/CHANGELOG.rst b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/CHANGELOG.rst new file mode 100644 index 0000000..d2ead9a --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/CHANGELOG.rst @@ -0,0 +1,56 @@ +========= +Changelog +========= + +0.5.6 (2017-04-01) +------------------ +* update at the end of the event loop so the bumper sensor can be caught + +0.5.3 (2017-02-23) +------------------ +* add_dependencies with catkin_EXPORTED_TARGETS, not xyz_gencpp targets which might not be there + +0.5.1 (2016-09-20) +------------------ +* bugfix for ros logging. + +0.4.2 (2015-03-02) +------------------ +* kobuki_gazebo_plugins: Resolve IMU sensor using fully scoped name + This ensures uniqueness among multiple models in which the sensor has the + same name. In this case, our specific motivation is the Kobuki Gazebo + plugin being spawned multiple times using kobuki_gazebo.urdf.xacro in the + package kobuki_description. +* Contributors: Scott Livingston + +0.4.1 (2014-09-19) +------------------ +* kobuki_gazebo_plugins: makes bump detection more reliable +* remove duplicated spinonce +* renamed updater to updates and loader to loads. reorder headers +* tf_prefix added. base_prefix added +* Contributors: Jihoon Lee, Marcus Liebhardt + +0.4.0 (2014-08-11) +------------------ +* cherry-picking `#30 `_ +* trivial update. +* removes email addresses from authors +* replace deprecated shared_dynamic_cast (fixes `#25 `_) +* Contributors: Daniel Stonier, Marcus Liebhardt, Nikolaus Demmel, Samir Benmendil + +0.3.1 (2013-10-14) +------------------ +* fixes gazebo header paths (refs `#22 `_) + +0.3.0 (2013-08-30) +------------------ +* fixes bumper & cliff event publishing +* adds reset odometry and fixes imu and odom data processing +* adds IMU data processing +* adds bugtracker and repo info to package.xml + +0.2.0 (2013-07-11) +------------------ +* ROS Hydro beta release. +* Adds catkinized kobuki_qtestsuite diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/CMakeLists.txt new file mode 100644 index 0000000..a2cb08d --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,45 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kobuki_gazebo_plugins) + +find_package(gazebo REQUIRED) + + +find_package(catkin REQUIRED COMPONENTS gazebo_ros + gazebo_plugins + geometry_msgs + kobuki_msgs + nav_msgs + roscpp + sensor_msgs + std_msgs + tf) + +catkin_package(INCLUDE_DIRS include + LIBRARIES gazebo_ros_kobuki + CATKIN_DEPENDS gazebo_ros + gazebo_plugins + geometry_msgs + kobuki_msgs + nav_msgs + roscpp + sensor_msgs + std_msgs + tf) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +link_directories(${GAZEBO_LIBRARY_DIRS}) +include_directories(include + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS}) + +add_library(gazebo_ros_kobuki src/gazebo_ros_kobuki.cpp + src/gazebo_ros_kobuki_updates.cpp + src/gazebo_ros_kobuki_loads.cpp) +add_dependencies(gazebo_ros_kobuki ${catkin_EXPORTED_TARGETS}) +target_link_libraries(gazebo_ros_kobuki + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES}) + +install(TARGETS gazebo_ros_kobuki + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/include/kobuki_gazebo_plugins/gazebo_ros_kobuki.h b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/include/kobuki_gazebo_plugins/gazebo_ros_kobuki.h new file mode 100644 index 0000000..280ed0f --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/include/kobuki_gazebo_plugins/gazebo_ros_kobuki.h @@ -0,0 +1,259 @@ +/* + * Copyright (c) 2013, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @author Marcus Liebhardt + * + * This work has been inspired by Nate Koenig's Gazebo plugin for the iRobot Create. + */ + +#ifndef GAZEBO_ROS_KOBUKI_H +#define GAZEBO_ROS_KOBUKI_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#if GAZEBO_MAJOR_VERSION >= 9 + // #include + #include + #include +#else + #include +#endif +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace gazebo +{ + +enum {LEFT= 0, RIGHT=1}; + +class GazeboRosKobuki : public ModelPlugin +{ +public: + /// Constructor + GazeboRosKobuki(); + /// Destructor + ~GazeboRosKobuki(); + /// Called when plugin is loaded + void Load(physics::ModelPtr parent, sdf::ElementPtr sdf); + /// Called by the world update start event + void OnUpdate(); + +private: + /* + * Methods + */ + /// Callback for incoming velocity commands + void cmdVelCB(const geometry_msgs::TwistConstPtr &msg); + /// Callback for incoming velocity commands + void motorPowerCB(const kobuki_msgs::MotorPowerPtr &msg); + /// Callback for resetting the odometry data + void resetOdomCB(const std_msgs::EmptyConstPtr &msg); + /// Spin method for the spinner thread + void spin(); + // void OnContact(const std::string &name, const physics::Contact &contact); necessary? + + + // internal functions for load + void prepareMotorPower(); + bool prepareJointState(); + void preparePublishTf(); + bool prepareWheelAndTorque(); + void prepareOdom(); + bool prepareVelocityCommand(); + bool prepareCliffSensor(); + bool prepareBumper(); + bool prepareIMU(); + void setupRosApi(std::string& model_name); + + // internal functions for update + void updateJointState(); + void updateOdometry(common::Time& step_time); + void updateIMU(); + void propagateVelocityCommands(); + void updateCliffSensor(); + void updateBumper(); + + + /* + * Parameters + */ + /// ROS node handles (relative & private) + ros::NodeHandle nh_, nh_priv_; + /// node name + std::string node_name_; + + /// TF Prefix + std::string tf_prefix_; + /// extra thread for triggering ROS callbacks +// boost::shared_ptr ros_spinner_thread_; necessary? + /// flag for shutting down the spinner thread + bool shutdown_requested_; + /// pointer to the model + physics::ModelPtr model_; + /// pointer to the gazebo ros node + GazeboRosPtr gazebo_ros_; + sdf::ElementPtr sdf_; + /// pointer to simulated world + physics::WorldPtr world_; + /// pointer to the update event connection (triggers the OnUpdate callback when event update event is received) + event::ConnectionPtr update_connection_; + /// rate control + double update_rate_; + /// Simulation time on previous update + common::Time prev_update_time_; + /// ROS subscriber for motor power commands + ros::Subscriber motor_power_sub_; + /// Flag indicating if the motors are turned on or not + bool motors_enabled_; + /// Pointers to Gazebo's joints + physics::JointPtr joints_[2]; + /// Left wheel's joint name + std::string left_wheel_joint_name_; + /// Right wheel's joint name + std::string right_wheel_joint_name_; + /// ROS publisher for joint state messages + ros::Publisher joint_state_pub_; + /// ROS message for joint sates + sensor_msgs::JointState joint_state_; + /// ROS subscriber for velocity commands + ros::Subscriber cmd_vel_sub_; + /// Simulation time of the last velocity command (used for time out) + common::Time last_cmd_vel_time_; + /// Time out for velocity commands in seconds + double cmd_vel_timeout_; + /// Speeds of the wheels + double wheel_speed_cmd_[2]; + /// Max. torque applied to the wheels + double torque_; + /// Separation between the wheels + double wheel_sep_; + /// Diameter of the wheels + double wheel_diam_; + /// Vector for pose + double odom_pose_[3]; + /// Vector for velocity + double odom_vel_[3]; + /// Pointer to pose covariance matrix + double *pose_cov_[36]; + /// Pointer to twist covariance matrix + double *twist_cov_[36]; + /// ROS publisher for odometry messages + ros::Publisher odom_pub_; + /// ROS message for odometry data + nav_msgs::Odometry odom_; + /// Flag for (not) publish tf transform for odom -> robot + bool publish_tf_; + /// TF transform publisher for the odom frame + tf::TransformBroadcaster tf_broadcaster_; + /// TF transform for the odom frame + geometry_msgs::TransformStamped odom_tf_; + /// Pointer to left cliff sensor + sensors::RaySensorPtr cliff_sensor_left_; + /// Pointer to frontal cliff sensor + sensors::RaySensorPtr cliff_sensor_center_; + /// Pointer to left right sensor + sensors::RaySensorPtr cliff_sensor_right_; + /// ROS publisher for cliff detection events + ros::Publisher cliff_event_pub_; + /// Kobuki ROS message for cliff event + kobuki_msgs::CliffEvent cliff_event_; + /// Cliff flag for the left sensor + bool cliff_detected_left_; + /// Cliff flag for the center sensor + bool cliff_detected_center_; + /// Cliff flag for the right sensor + bool cliff_detected_right_; + /// measured distance in meter for detecting a cliff + float cliff_detection_threshold_; + /// Maximum distance to floor + int floot_dist_; + /// Pointer to bumper sensor simulating Kobuki's left, centre and right bumper sensors + sensors::ContactSensorPtr bumper_; + /// ROS publisher for bumper events + ros::Publisher bumper_event_pub_; + /// Kobuki ROS message for bumper event + kobuki_msgs::BumperEvent bumper_event_; + /// Flag for left bumper's last state + bool bumper_left_was_pressed_; + /// Flag for center bumper's last state + bool bumper_center_was_pressed_; + /// Flag for right bumper's last state + bool bumper_right_was_pressed_; + /// Flag for left bumper's current state + bool bumper_left_is_pressed_; + /// Flag for left bumper's current state + bool bumper_center_is_pressed_; + /// Flag for left bumper's current state + bool bumper_right_is_pressed_; + /// Pointer to IMU sensor model + sensors::ImuSensorPtr imu_; + /// Storage for the angular velocity reported by the IMU + + #if GAZEBO_MAJOR_VERSION >= 9 + ignition::math::Vector3d vel_angular_; + #else + math::Vector3 vel_angular_; + #endif + + /// ROS publisher for IMU data + ros::Publisher imu_pub_; + /// ROS message for publishing IMU data + sensor_msgs::Imu imu_msg_; + /// ROS subscriber for reseting the odometry data + ros::Subscriber odom_reset_sub_; + + + +}; + +} // namespace gazebo + +#endif /* GAZEBO_ROS_KOBUKI_H */ diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/package.xml b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/package.xml new file mode 100644 index 0000000..608138d --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/package.xml @@ -0,0 +1,35 @@ + + kobuki_gazebo_plugins + 0.5.7 + Kobuki-specific ROS plugins for Gazebo + Marcus Liebhardt + BSD + http://ros.org/wiki/kobuki_gazebo_plugins + https://github.com/yujinrobot/kobuki_desktop + https://github.com/yujinrobot/kobuki_desktop/issues + Marcus Liebhardt + + catkin + + boost + gazebo_ros + gazebo_plugins + geometry_msgs + kobuki_msgs + nav_msgs + roscpp + sensor_msgs + std_msgs + tf + + boost + gazebo_ros + gazebo_plugins + geometry_msgs + kobuki_msgs + nav_msgs + roscpp + sensor_msgs + std_msgs + tf + diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp new file mode 100644 index 0000000..64d2a1d --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki.cpp @@ -0,0 +1,187 @@ + +#include +#include +#include +#include +#include +#include "kobuki_gazebo_plugins/gazebo_ros_kobuki.h" +#if GAZEBO_MAJOR_VERSION >= 9 + // #include + #include + #include +#else + #include +#endif + +namespace gazebo +{ + + +GazeboRosKobuki::GazeboRosKobuki() : shutdown_requested_(false) +{ + // Initialise variables + wheel_speed_cmd_[LEFT] = 0.0; + wheel_speed_cmd_[RIGHT] = 0.0; + cliff_detected_left_ = false; + cliff_detected_center_ = false; + cliff_detected_right_ = false; +} + +GazeboRosKobuki::~GazeboRosKobuki() +{ +// rosnode_->shutdown(); + shutdown_requested_ = true; + // Wait for spinner thread to end +// ros_spinner_thread_->join(); + + // delete spinner_thread_; +// delete rosnode_; +} + +void GazeboRosKobuki::Load(physics::ModelPtr parent, sdf::ElementPtr sdf) +{ + model_ = parent; + if (!model_) + { + ROS_ERROR_STREAM("Invalid model pointer! [" << node_name_ << "]"); + return; + } + + gazebo_ros_ = GazeboRosPtr(new GazeboRos(model_, sdf, "Kobuki")); + sdf_ = sdf; + gazebo_ros_->getParameter(this->update_rate_, "update_rate", 0.0); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + // Get then name of the parent model and use it as node name + std::string model_name = sdf->GetParent()->Get("name"); + gzdbg << "Plugin model name: " << model_name << "\n"; + node_name_ = model_name; + world_ = parent->GetWorld(); + + prepareMotorPower(); + preparePublishTf(); + + if(prepareJointState() == false) + return; + if(prepareWheelAndTorque() == false) + return; + + prepareOdom(); + + if(prepareVelocityCommand() == false) + return; + if(prepareCliffSensor() == false) + return; + if(prepareBumper() == false) + return; + if(prepareIMU() == false) + return; + + setupRosApi(model_name); + + #if GAZEBO_MAJOR_VERSION >= 9 + prev_update_time_ = world_->SimTime(); + #else + prev_update_time_ = world_->GetSimTime(); + #endif + + ROS_INFO_STREAM("GazeboRosKobuki plugin ready to go! [" << node_name_ << "]"); + update_connection_ = event::Events::ConnectWorldUpdateEnd(boost::bind(&GazeboRosKobuki::OnUpdate, this)); + +} + + +void GazeboRosKobuki::OnUpdate() +{ + /* + * First process ROS callbacks + */ + ros::spinOnce(); + + /* + * Update current time and time step + */ + common::Time time_now; + #if GAZEBO_MAJOR_VERSION >= 9 + time_now = world_->SimTime(); + #else + time_now = world_->GetSimTime(); + #endif + + if (time_now < prev_update_time_) { + ROS_WARN_NAMED("gazebo_ros_kobuki", "Negative update time difference detected."); + prev_update_time_ = time_now; + } + + common::Time step_time = time_now - prev_update_time_; + + // propagate wheel velocity commands at the full simulation rate + propagateVelocityCommands(); + + // publish rate control + if (this->update_rate_ > 0 && step_time.Double() < (1.0 / this->update_rate_)) { + return; + } + + prev_update_time_ = time_now; + + updateJointState(); + updateOdometry(step_time); + updateIMU(); + updateCliffSensor(); + updateBumper(); +} + +void GazeboRosKobuki::spin() +{ + ros::Rate r(10); + while(ros::ok() && !shutdown_requested_) + { + r.sleep(); + } +} + +void GazeboRosKobuki::motorPowerCB(const kobuki_msgs::MotorPowerPtr &msg) +{ + if ((msg->state == kobuki_msgs::MotorPower::ON) && (!motors_enabled_)) + { + motors_enabled_ = true; + ROS_INFO_STREAM("Motors fired up. [" << node_name_ << "]"); + } + else if ((msg->state == kobuki_msgs::MotorPower::OFF) && (motors_enabled_)) + { + motors_enabled_ = false; + ROS_INFO_STREAM("Motors taking a rest. [" << node_name_ << "]"); + } +} + +void GazeboRosKobuki::cmdVelCB(const geometry_msgs::TwistConstPtr &msg) +{ + #if GAZEBO_MAJOR_VERSION >= 9 + last_cmd_vel_time_ = world_->SimTime(); + #else + last_cmd_vel_time_ = world_->GetSimTime(); + #endif + + wheel_speed_cmd_[LEFT] = msg->linear.x - msg->angular.z * (wheel_sep_) / 2; + wheel_speed_cmd_[RIGHT] = msg->linear.x + msg->angular.z * (wheel_sep_) / 2; +} + +void GazeboRosKobuki::resetOdomCB(const std_msgs::EmptyConstPtr &msg) +{ + odom_pose_[0] = 0.0; + odom_pose_[1] = 0.0; + odom_pose_[2] = 0.0; +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosKobuki); + +} // namespace gazebo diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp new file mode 100644 index 0000000..231b7c7 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_loads.cpp @@ -0,0 +1,367 @@ +/* + * Copyright (c) 2013, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @author Marcus Liebhardt + * + * This work has been inspired by Nate Koenig's Gazebo plugin for the iRobot Create. + */ + +#include "kobuki_gazebo_plugins/gazebo_ros_kobuki.h" + +namespace gazebo +{ + +/* + * Prepare receiving motor power commands + */ +void GazeboRosKobuki::prepareMotorPower() { + motors_enabled_ = true; +} + +/* + * Prepare joint state publishing + */ +bool GazeboRosKobuki::prepareJointState() +{ + if (sdf_->HasElement("left_wheel_joint_name")) + { + left_wheel_joint_name_ = sdf_->GetElement("left_wheel_joint_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find left wheel joint in the model description!" + << " Did you specify the correct joint name?" << " [" << node_name_ <<"]"); + return false; + } + if (sdf_->HasElement("right_wheel_joint_name")) + { + right_wheel_joint_name_ = sdf_->GetElement("right_wheel_joint_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find right wheel joint in the model description!" + << " Did you specify the correct joint name?" << " [" << node_name_ <<"]"); + return false; + } + joints_[LEFT] = model_->GetJoint(left_wheel_joint_name_); + joints_[RIGHT] = model_->GetJoint(right_wheel_joint_name_); + if (!joints_[LEFT] || !joints_[RIGHT]) + { + ROS_ERROR_STREAM("Couldn't find specified wheel joints in the model! [" << node_name_ <<"]"); + return false; + } + joint_state_.header.frame_id = "Joint States"; + joint_state_.name.push_back(left_wheel_joint_name_); + joint_state_.position.push_back(0); + joint_state_.velocity.push_back(0); + joint_state_.effort.push_back(0); + joint_state_.name.push_back(right_wheel_joint_name_); + joint_state_.position.push_back(0); + joint_state_.velocity.push_back(0); + joint_state_.effort.push_back(0); + + return true; +} + +/* + * Prepare publishing odometry data + */ +void GazeboRosKobuki::preparePublishTf() +{ + if (sdf_->HasElement("publish_tf")) + { + publish_tf_ = sdf_->GetElement("publish_tf")->Get(); + if (publish_tf_) + { + ROS_INFO_STREAM("Will publish tf." << " [" << node_name_ <<"]"); + } + else + { + ROS_INFO_STREAM("Won't publish tf." << " [" << node_name_ <<"]"); + } + } + else + { + publish_tf_ = false; + ROS_INFO_STREAM("Couldn't find the 'publish tf' parameter in the model description." + << " Won't publish tf." << " [" << node_name_ <<"]"); + } +} + +bool GazeboRosKobuki::prepareWheelAndTorque() +{ + if (sdf_->HasElement("wheel_separation")) + { + wheel_sep_ = sdf_->GetElement("wheel_separation")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the wheel separation parameter in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + if (sdf_->HasElement("wheel_diameter")) + { + wheel_diam_ = sdf_->GetElement("wheel_diameter")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the wheel diameter parameter in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + if (sdf_->HasElement("torque")) + { + torque_ = sdf_->GetElement("torque")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the torque parameter in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + return true; +} + +void GazeboRosKobuki::prepareOdom() +{ + odom_pose_[0] = 0.0; + odom_pose_[1] = 0.0; + odom_pose_[2] = 0.0; +} + +/* + * Prepare receiving velocity commands + */ +bool GazeboRosKobuki::prepareVelocityCommand() +{ + if (sdf_->HasElement("velocity_command_timeout")) + { + cmd_vel_timeout_ = sdf_->GetElement("velocity_command_timeout")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the wheel separation parameter in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + #if GAZEBO_MAJOR_VERSION >= 9 + last_cmd_vel_time_ = world_->SimTime(); + #else + last_cmd_vel_time_ = world_->GetSimTime(); + #endif + return true; +} + +bool GazeboRosKobuki::prepareCliffSensor() +{ + /* + * Prepare cliff sensors + */ + std::string cliff_sensor_left_name, cliff_sensor_center_name, cliff_sensor_right_name; + if (sdf_->HasElement("cliff_sensor_left_name")) + { + cliff_sensor_left_name = sdf_->GetElement("cliff_sensor_left_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the name of left cliff sensor in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + if (sdf_->HasElement("cliff_sensor_center_name")) + { + cliff_sensor_center_name = sdf_->GetElement("cliff_sensor_center_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the name of frontal cliff sensor in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + if (sdf_->HasElement("cliff_sensor_right_name")) + { + cliff_sensor_right_name = sdf_->GetElement("cliff_sensor_right_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the name of right cliff sensor in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + cliff_sensor_left_ = std::dynamic_pointer_cast( + sensors::SensorManager::Instance()->GetSensor(cliff_sensor_left_name)); + cliff_sensor_center_ = std::dynamic_pointer_cast( + sensors::SensorManager::Instance()->GetSensor(cliff_sensor_center_name)); + cliff_sensor_right_ = std::dynamic_pointer_cast( + sensors::SensorManager::Instance()->GetSensor(cliff_sensor_right_name)); + if (!cliff_sensor_left_) + { + ROS_ERROR_STREAM("Couldn't find the left cliff sensor in the model! [" << node_name_ <<"]"); + return false; + } + if (!cliff_sensor_center_) + { + ROS_ERROR_STREAM("Couldn't find the center cliff sensor in the model! [" << node_name_ <<"]"); + return false; + } + if (!cliff_sensor_right_) + { + ROS_ERROR_STREAM("Couldn't find the right cliff sensor in the model! [" << node_name_ <<"]"); + return false; + } + if (sdf_->HasElement("cliff_detection_threshold")) + { + cliff_detection_threshold_ = sdf_->GetElement("cliff_detection_threshold")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the cliff detection threshold parameter in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + cliff_sensor_left_->SetActive(true); + cliff_sensor_center_->SetActive(true); + cliff_sensor_right_->SetActive(true); + + return true; +} + + +/* + * Prepare bumper + */ +bool GazeboRosKobuki::prepareBumper() +{ + std::string bumper_name; + if (sdf_->HasElement("bumper_name")) + { + bumper_name = sdf_->GetElement("bumper_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the name of bumper sensor in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + bumper_ = std::dynamic_pointer_cast( + sensors::SensorManager::Instance()->GetSensor(bumper_name)); + if (!bumper_) + { + ROS_ERROR_STREAM("Couldn't find the bumpers in the model! [" << node_name_ <<"]"); + return false; + } + bumper_->SetActive(true); + return true; +} + +/* + * Prepare IMU + */ +bool GazeboRosKobuki::prepareIMU() +{ + std::string imu_name; + if (sdf_->HasElement("imu_name")) + { + imu_name = sdf_->GetElement("imu_name")->Get(); + } + else + { + ROS_ERROR_STREAM("Couldn't find the name of IMU sensor in the model description!" + << " Did you specify it?" << " [" << node_name_ <<"]"); + return false; + } + #if GAZEBO_MAJOR_VERSION >= 9 + imu_ = std::dynamic_pointer_cast( + sensors::get_sensor(world_->Name()+"::"+node_name_+"::base_footprint::"+imu_name)); + #else + imu_ = std::dynamic_pointer_cast( + sensors::get_sensor(world_->GetName()+"::"+node_name_+"::base_footprint::"+imu_name)); + + #endif + if (!imu_) + { + ROS_ERROR_STREAM("Couldn't find the IMU in the model! [" << node_name_ <<"]"); + return false; + } + imu_->SetActive(true); + return true; +} + +void GazeboRosKobuki::setupRosApi(std::string& model_name) +{ + std::string base_prefix; + gazebo_ros_->node()->param("base_prefix", base_prefix, std::string("mobile_base")); + + // Public topics + + // joint_states + std::string joint_states_topic = "joint_states"; + joint_state_pub_ = gazebo_ros_->node()->advertise(joint_states_topic, 1); + ROS_INFO("%s: Advertise joint_states[%s]!", gazebo_ros_->info(), joint_states_topic.c_str()); + + // odom + std::string odom_topic = "odom"; + odom_pub_ = gazebo_ros_->node()->advertise(odom_topic, 1); + ROS_INFO("%s: Advertise Odometry[%s]!", gazebo_ros_->info(), odom_topic.c_str()); + + + // Private Topics + // motor power + std::string motor_power_topic = base_prefix + "/commands/motor_power"; + motor_power_sub_ = gazebo_ros_->node()->subscribe(motor_power_topic, 10, &GazeboRosKobuki::motorPowerCB, this); + ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), motor_power_topic.c_str()); + + + std::string odom_reset_topic = base_prefix + "/commands/reset_odometry"; + odom_reset_sub_ = gazebo_ros_->node()->subscribe(odom_reset_topic, 10, &GazeboRosKobuki::resetOdomCB, this); + ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), odom_reset_topic.c_str()); + + // cmd_vel + std::string cmd_vel_topic = base_prefix + "/commands/velocity"; + cmd_vel_sub_ = gazebo_ros_->node()->subscribe(cmd_vel_topic, 100, &GazeboRosKobuki::cmdVelCB, this); + ROS_INFO("%s: Try to subscribe to %s!", gazebo_ros_->info(), cmd_vel_topic.c_str()); + + // cliff + std::string cliff_topic = base_prefix + "/events/cliff"; + cliff_event_pub_ = gazebo_ros_->node()->advertise(cliff_topic, 1); + ROS_INFO("%s: Advertise Cliff[%s]!", gazebo_ros_->info(), cliff_topic.c_str()); + + // bumper + std::string bumper_topic = base_prefix + "/events/bumper"; + bumper_event_pub_ = gazebo_ros_->node()->advertise(bumper_topic, 1); + ROS_INFO("%s: Advertise Bumper[%s]!", gazebo_ros_->info(), bumper_topic.c_str()); + + // IMU + std::string imu_topic = base_prefix + "/sensors/imu_data"; + imu_pub_ = gazebo_ros_->node()->advertise(imu_topic, 1); + ROS_INFO("%s: Advertise IMU[%s]!", gazebo_ros_->info(), imu_topic.c_str()); +} +} diff --git a/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp new file mode 100644 index 0000000..b430364 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_gazebo_plugins/src/gazebo_ros_kobuki_updates.cpp @@ -0,0 +1,416 @@ +/* + * Copyright (c) 2013, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @author Marcus Liebhardt + * + * This work has been inspired by Nate Koenig's Gazebo plugin for the iRobot Create. + */ + +#include "kobuki_gazebo_plugins/gazebo_ros_kobuki.h" + + +namespace gazebo { + + +void GazeboRosKobuki::updateJointState() +{ + /* + * Joint states + */ + std::string baselink_frame = gazebo_ros_->resolveTF("base_link"); + joint_state_.header.stamp = ros::Time::now(); + joint_state_.header.frame_id = baselink_frame; + + #if GAZEBO_MAJOR_VERSION >= 9 + joint_state_.position[LEFT] = joints_[LEFT]->Position(0); + joint_state_.position[RIGHT] = joints_[RIGHT]->Position(0); + #else + joint_state_.position[LEFT] = joints_[LEFT]->GetAngle(0).Radian(); + joint_state_.position[RIGHT] = joints_[RIGHT]->GetAngle(0).Radian(); + #endif + + joint_state_.velocity[LEFT] = joints_[LEFT]->GetVelocity(0); + joint_state_.velocity[RIGHT] = joints_[RIGHT]->GetVelocity(0); + + + joint_state_pub_.publish(joint_state_); +} + +/* + * Odometry (encoders & IMU) + */ +void GazeboRosKobuki::updateOdometry(common::Time& step_time) +{ + std::string odom_frame = gazebo_ros_->resolveTF("odom"); + std::string base_frame = gazebo_ros_->resolveTF("base_footprint"); + odom_.header.stamp = joint_state_.header.stamp; + odom_.header.frame_id = odom_frame; + odom_.child_frame_id = base_frame; + + // Distance travelled by main wheels + double d1, d2; + double dr, da; + d1 = d2 = 0; + dr = da = 0; + d1 = step_time.Double() * (wheel_diam_ / 2) * joints_[LEFT]->GetVelocity(0); + d2 = step_time.Double() * (wheel_diam_ / 2) * joints_[RIGHT]->GetVelocity(0); + // Can see NaN values here, just zero them out if needed + if (std::isnan(d1)) + { + ROS_WARN_STREAM_THROTTLE(0.1, "Gazebo ROS Kobuki plugin: NaN in d1. Step time: " << step_time.Double() + << ", WD: " << wheel_diam_ << ", velocity: " << joints_[LEFT]->GetVelocity(0)); + d1 = 0; + } + if (std::isnan(d2)) + { + ROS_WARN_STREAM_THROTTLE(0.1, "Gazebo ROS Kobuki plugin: NaN in d2. Step time: " << step_time.Double() + << ", WD: " << wheel_diam_ << ", velocity: " << joints_[RIGHT]->GetVelocity(0)); + d2 = 0; + } + dr = (d1 + d2) / 2; + da = (d2 - d1) / wheel_sep_; // ignored + + // Just as in the Kobuki driver, the angular velocity is taken directly from the IMU + vel_angular_ = imu_->AngularVelocity(); + + // Compute odometric pose + odom_pose_[0] += dr * cos( odom_pose_[2] ); + odom_pose_[1] += dr * sin( odom_pose_[2] ); + + #if GAZEBO_MAJOR_VERSION >= 9 + odom_pose_[2] += vel_angular_.Z() * step_time.Double(); + #else + odom_pose_[2] += vel_angular_.z * step_time.Double(); + #endif + + // Compute odometric instantaneous velocity + odom_vel_[0] = dr / step_time.Double(); + odom_vel_[1] = 0.0; + + #if GAZEBO_MAJOR_VERSION >= 9 + odom_vel_[2] = vel_angular_.Z(); + + #else + odom_vel_[2] = vel_angular_.z; + #endif + + odom_.pose.pose.position.x = odom_pose_[0]; + odom_.pose.pose.position.y = odom_pose_[1]; + odom_.pose.pose.position.z = 0; + + tf::Quaternion qt; + qt.setEuler(0,0,odom_pose_[2]); + odom_.pose.pose.orientation.x = qt.getX(); + odom_.pose.pose.orientation.y = qt.getY(); + odom_.pose.pose.orientation.z = qt.getZ(); + odom_.pose.pose.orientation.w = qt.getW(); + + odom_.pose.covariance[0] = 0.1; + odom_.pose.covariance[7] = 0.1; + odom_.pose.covariance[35] = 0.05; + odom_.pose.covariance[14] = 1e6; + odom_.pose.covariance[21] = 1e6; + odom_.pose.covariance[28] = 1e6; + + odom_.twist.twist.linear.x = odom_vel_[0]; + odom_.twist.twist.linear.y = 0; + odom_.twist.twist.linear.z = 0; + odom_.twist.twist.angular.x = 0; + odom_.twist.twist.angular.y = 0; + odom_.twist.twist.angular.z = odom_vel_[2]; + odom_pub_.publish(odom_); // publish odom message + + if (publish_tf_) + { + odom_tf_.header = odom_.header; + odom_tf_.child_frame_id = odom_.child_frame_id; + odom_tf_.transform.translation.x = odom_.pose.pose.position.x; + odom_tf_.transform.translation.y = odom_.pose.pose.position.y; + odom_tf_.transform.translation.z = odom_.pose.pose.position.z; + odom_tf_.transform.rotation = odom_.pose.pose.orientation; + tf_broadcaster_.sendTransform(odom_tf_); + } +} + +/* + * Publish IMU data + */ +void GazeboRosKobuki::updateIMU() +{ + imu_msg_.header = joint_state_.header; + + #if GAZEBO_MAJOR_VERSION >= 9 + ignition::math::Quaterniond quat = imu_->Orientation(); + imu_msg_.orientation.x = quat.X(); + imu_msg_.orientation.y = quat.Y(); + imu_msg_.orientation.z = quat.Z(); + imu_msg_.orientation.w = quat.W(); + #else + math::Quaternion quat = imu_->Orientation(); + imu_msg_.orientation.x = quat.x; + imu_msg_.orientation.y = quat.y; + imu_msg_.orientation.z = quat.z; + imu_msg_.orientation.w = quat.w; + #endif + + + imu_msg_.orientation_covariance[0] = 1e6; + imu_msg_.orientation_covariance[4] = 1e6; + imu_msg_.orientation_covariance[8] = 0.05; + + #if GAZEBO_MAJOR_VERSION >= 9 + imu_msg_.angular_velocity.x = vel_angular_.X(); + imu_msg_.angular_velocity.y = vel_angular_.Y(); + imu_msg_.angular_velocity.z = vel_angular_.Z(); + #else + imu_msg_.angular_velocity.x = vel_angular_.x; + imu_msg_.angular_velocity.y = vel_angular_.y; + imu_msg_.angular_velocity.z = vel_angular_.z; + #endif + + + imu_msg_.angular_velocity_covariance[0] = 1e6; + imu_msg_.angular_velocity_covariance[4] = 1e6; + imu_msg_.angular_velocity_covariance[8] = 0.05; + + #if GAZEBO_MAJOR_VERSION >= 9 + ignition::math::Vector3d lin_acc = imu_->LinearAcceleration(); + imu_msg_.linear_acceleration.x = lin_acc.X(); + imu_msg_.linear_acceleration.y = lin_acc.Y(); + imu_msg_.linear_acceleration.z = lin_acc.Z(); + #else + math::Vector3 lin_acc = imu_->LinearAcceleration(); + imu_msg_.linear_acceleration.x = lin_acc.x; + imu_msg_.linear_acceleration.y = lin_acc.y; + imu_msg_.linear_acceleration.z = lin_acc.z; + #endif + + + imu_pub_.publish(imu_msg_); // publish odom message +} + +/* + * Propagate velocity commands + * TODO: Check how to simulate disabled motors, e.g. set MaxForce to zero, but then damping is important! + */ +void GazeboRosKobuki::propagateVelocityCommands() +{ + common::Time time_now; + #if GAZEBO_MAJOR_VERSION >= 9 + time_now = world_->SimTime(); + #else + time_now = world_->GetSimTime(); + #endif + if (((time_now - last_cmd_vel_time_).Double() > cmd_vel_timeout_) || !motors_enabled_) + { + wheel_speed_cmd_[LEFT] = 0.0; + wheel_speed_cmd_[RIGHT] = 0.0; + } + joints_[LEFT]->SetVelocity(0, wheel_speed_cmd_[LEFT] / (wheel_diam_ / 2.0)); + joints_[RIGHT]->SetVelocity(0, wheel_speed_cmd_[RIGHT] / (wheel_diam_ / 2.0)); +} + +/* + * Cliff sensors + * Check each sensor separately + */ +void GazeboRosKobuki::updateCliffSensor() +{ + // Left cliff sensor + if ((cliff_detected_left_ == false) && + (cliff_sensor_left_->Range(0) >= cliff_detection_threshold_)) + { + cliff_detected_left_ = true; + cliff_event_.sensor = kobuki_msgs::CliffEvent::LEFT; + cliff_event_.state = kobuki_msgs::CliffEvent::CLIFF; + // convert distance back to an AD reading + cliff_event_.bottom = (int)(76123.0f * atan2(0.995f, cliff_sensor_left_->Range(0))); + cliff_event_pub_.publish(cliff_event_); + } + else if ((cliff_detected_left_ == true) && + (cliff_sensor_left_->Range(0) < cliff_detection_threshold_)) + { + cliff_detected_left_ = false; + cliff_event_.sensor = kobuki_msgs::CliffEvent::LEFT; + cliff_event_.state = kobuki_msgs::CliffEvent::FLOOR; + // convert distance back to an AD reading + cliff_event_.bottom = (int)(76123.0f * atan2(0.995f, cliff_sensor_left_->Range(0))); + cliff_event_pub_.publish(cliff_event_); + } + // Centre cliff sensor + if ((cliff_detected_center_ == false) && + (cliff_sensor_center_->Range(0) >= cliff_detection_threshold_)) + { + cliff_detected_center_ = true; + cliff_event_.sensor = kobuki_msgs::CliffEvent::CENTER; + cliff_event_.state = kobuki_msgs::CliffEvent::CLIFF; + // convert distance back to an AD reading + cliff_event_.bottom = (int)(76123.0f * atan2(0.995f, cliff_sensor_center_->Range(0))); + cliff_event_pub_.publish(cliff_event_); + } + else if ((cliff_detected_center_ == true) && + (cliff_sensor_center_->Range(0) < cliff_detection_threshold_)) + { + cliff_detected_center_ = false; + cliff_event_.sensor = kobuki_msgs::CliffEvent::CENTER; + cliff_event_.state = kobuki_msgs::CliffEvent::FLOOR; + // convert distance back to an AD reading + cliff_event_.bottom = (int)(76123.0f * atan2(0.995f, cliff_sensor_center_->Range(0))); + cliff_event_pub_.publish(cliff_event_); + } + // Right cliff sensor + if ((cliff_detected_right_ == false) && + (cliff_sensor_right_->Range(0) >= cliff_detection_threshold_)) + { + cliff_detected_right_ = true; + cliff_event_.sensor = kobuki_msgs::CliffEvent::RIGHT; + cliff_event_.state = kobuki_msgs::CliffEvent::CLIFF; + // convert distance back to an AD reading + cliff_event_.bottom = (int)(76123.0f * atan2(0.995f, cliff_sensor_right_->Range(0))); + cliff_event_pub_.publish(cliff_event_); + } + else if ((cliff_detected_right_ == true) && + (cliff_sensor_right_->Range(0) < cliff_detection_threshold_)) + { + cliff_detected_right_ = false; + cliff_event_.sensor = kobuki_msgs::CliffEvent::RIGHT; + cliff_event_.state = kobuki_msgs::CliffEvent::FLOOR; + // convert distance back to an AD reading + cliff_event_.bottom = (int)(76123.0f * atan2(0.995f, cliff_sensor_right_->Range(0))); + cliff_event_pub_.publish(cliff_event_); + } +} + +/* + * Bumpers + */ +// In order to simulate the three bumper sensors, a contact is assigned to one of the bumpers +// depending on its position. Each sensor covers a range of 60 degrees. +// +90 ... +30: left bumper +// +30 ... -30: centre bumper +// -30 ... -90: right bumper +void GazeboRosKobuki::updateBumper() +{ + // reset flags + bumper_left_is_pressed_ = false; + bumper_center_is_pressed_ = false; + bumper_right_is_pressed_ = false; + + // parse contacts + msgs::Contacts contacts; + contacts = bumper_->Contacts(); + double robot_heading; + #if GAZEBO_MAJOR_VERSION >= 9 + ignition::math::Pose3d current_pose = model_->WorldPose(); + robot_heading = current_pose.Rot().Yaw(); + #else + math::Pose current_pose = model_->GetWorldPose(); + robot_heading = current_pose.rot.GetYaw(); + #endif + + + for (int i = 0; i < contacts.contact_size(); ++i) + { + double rel_contact_pos; + #if GAZEBO_MAJOR_VERSION >= 9 + rel_contact_pos = contacts.contact(i).position(0).z() - current_pose.Pos().Z(); + #else + rel_contact_pos = contacts.contact(i).position(0).z() - current_pose.pos.z; + #endif + // Actually, only contacts at the height of the bumper should be considered, but since we use a simplified collision model + // contacts further below and above need to be consider as well to identify "bumps" reliably. + if ((rel_contact_pos >= 0.01) + && (rel_contact_pos <= 0.13)) + { + // using the force normals below, since the contact position is given in world coordinates + // also negating the normal, because it points from contact to robot centre + double global_contact_angle = std::atan2(-contacts.contact(i).normal(0).y(), -contacts.contact(i).normal(0).x()); + double relative_contact_angle = global_contact_angle - robot_heading; + + if ((relative_contact_angle <= (M_PI/2)) && (relative_contact_angle > (M_PI/6))) + { + bumper_left_is_pressed_ = true; + } + else if ((relative_contact_angle <= (M_PI/6)) && (relative_contact_angle >= (-M_PI/6))) + { + bumper_center_is_pressed_ = true; + } + else if ((relative_contact_angle < (-M_PI/6)) && (relative_contact_angle >= (-M_PI/2))) + { + bumper_right_is_pressed_ = true; + } + } + } + + // check for bumper state change + if (bumper_left_is_pressed_ && !bumper_left_was_pressed_) + { + bumper_left_was_pressed_ = true; + bumper_event_.state = kobuki_msgs::BumperEvent::PRESSED; + bumper_event_.bumper = kobuki_msgs::BumperEvent::LEFT; + bumper_event_pub_.publish(bumper_event_); + } + else if (!bumper_left_is_pressed_ && bumper_left_was_pressed_) + { + bumper_left_was_pressed_ = false; + bumper_event_.state = kobuki_msgs::BumperEvent::RELEASED; + bumper_event_.bumper = kobuki_msgs::BumperEvent::LEFT; + bumper_event_pub_.publish(bumper_event_); + } + if (bumper_center_is_pressed_ && !bumper_center_was_pressed_) + { + bumper_center_was_pressed_ = true; + bumper_event_.state = kobuki_msgs::BumperEvent::PRESSED; + bumper_event_.bumper = kobuki_msgs::BumperEvent::CENTER; + bumper_event_pub_.publish(bumper_event_); + } + else if (!bumper_center_is_pressed_ && bumper_center_was_pressed_) + { + bumper_center_was_pressed_ = false; + bumper_event_.state = kobuki_msgs::BumperEvent::RELEASED; + bumper_event_.bumper = kobuki_msgs::BumperEvent::CENTER; + bumper_event_pub_.publish(bumper_event_); + } + if (bumper_right_is_pressed_ && !bumper_right_was_pressed_) + { + bumper_right_was_pressed_ = true; + bumper_event_.state = kobuki_msgs::BumperEvent::PRESSED; + bumper_event_.bumper = kobuki_msgs::BumperEvent::RIGHT; + bumper_event_pub_.publish(bumper_event_); + } + else if (!bumper_right_is_pressed_ && bumper_right_was_pressed_) + { + bumper_right_was_pressed_ = false; + bumper_event_.state = kobuki_msgs::BumperEvent::RELEASED; + bumper_event_.bumper = kobuki_msgs::BumperEvent::RIGHT; + bumper_event_pub_.publish(bumper_event_); + } +} +} diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/.cproject b/autonomous_robotics_ros/src/kobuki_keyop/.cproject old mode 100755 new mode 100644 similarity index 51% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/.cproject rename to autonomous_robotics_ros/src/kobuki_keyop/.cproject index 6925e71..97e74a2 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/.cproject +++ b/autonomous_robotics_ros/src/kobuki_keyop/.cproject @@ -3,8 +3,8 @@ - - + + @@ -16,17 +16,17 @@ - - - - - - - - - - - + + + + + + + + + + + @@ -34,10 +34,10 @@ - - - + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/.project b/autonomous_robotics_ros/src/kobuki_keyop/.project old mode 100755 new mode 100644 similarity index 98% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/.project rename to autonomous_robotics_ros/src/kobuki_keyop/.project index 47b03e7..30ea286 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/.project +++ b/autonomous_robotics_ros/src/kobuki_keyop/.project @@ -1,6 +1,6 @@ - turtlebot_msgs + kobuki_keyop diff --git a/autonomous_robotics_ros/src/kobuki_keyop/CHANGELOG.rst b/autonomous_robotics_ros/src/kobuki_keyop/CHANGELOG.rst new file mode 100644 index 0000000..2675883 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/CHANGELOG.rst @@ -0,0 +1,55 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package kobuki_keyop +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.6 (2015-05-27) +------------------ +* Installed both C/C++ headers. +* Installed missing include directory. +* Contributors: James Goppert + +0.6.5 (2014-11-21) +------------------ + +0.6.4 (2014-08-26) +------------------ + +0.6.3 (2014-08-25) +------------------ + +0.6.2 (2014-08-11) +------------------ + +0.6.1 (2014-08-08) +------------------ + +0.6.0 (2014-08-08) +------------------ +* Add missing run dependency on yocs_cmd_vel_mux +* Contributors: Jorge Santos + +0.5.5 (2013-10-11) +------------------ +* Rename cmd_vel_mux as yocs_cmd_vel_mux. + +0.5.4 (2013-09-06) +------------------ + +0.5.3 (2013-08-30) +------------------ + +0.5.0 (2013-08-29) +------------------ +* kobuki : Added extra url info on all packages. +* Fix URL to the previous changelog wiki. +* Changelogs at package level. + +0.4.0 (2013-08-09) +------------------ +* Removed remaping for fake_local. + + +Previous versions, bugfixing +============================ + +Available in ROS wiki: http://ros.org/wiki/kobuki/ChangeList diff --git a/autonomous_robotics_ros/src/kobuki_keyop/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_keyop/CMakeLists.txt new file mode 100644 index 0000000..69cf525 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/CMakeLists.txt @@ -0,0 +1,24 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kobuki_keyop) +find_package(catkin REQUIRED COMPONENTS geometry_msgs std_srvs std_msgs roscpp ecl_exceptions ecl_threads ecl_time kobuki_msgs) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES kobuki + CATKIN_DEPENDS geometry_msgs std_srvs std_msgs roscpp ecl_exceptions ecl_threads ecl_time kobuki_msgs +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +add_subdirectory(src) + +install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h*") + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY param + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_keyop/doxygen/mainpage.dox b/autonomous_robotics_ros/src/kobuki_keyop/doxygen/mainpage.dox new file mode 100644 index 0000000..482fbb6 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/doxygen/mainpage.dox @@ -0,0 +1,48 @@ +/** +\mainpage +\htmlinclude manifest.html + +\section Overview + +Provides a keyboard teleoperation control to kobukibot. Just enables a simple +increase velocity mechanism both linearly and angularly as well as power off +and power on functions. + +\section published Published Topics + +- kobuki_keyop/cmd_vel (geometry_msgs/Twist) + +Sends command velocities to the mobile base interface. + +- kobuki_keyop/enable (std_msgs/String) +- kobuki_keyop/disable (std_msgs/String) + +Send power-off and power-on commands to the robot core. + +\section Usage + +Use a launcher to fire up the keyop command as this will allow you to map the above +topics to the appropriate namespace. e.g. there is a launcher in +kobuki_keyop/resources/launch/robot_core.launch for ycs' robot core: + +@code + + + + + + + +@endcode + +You may wish to change the remappings to suit the currently running robot. You can initiate with + +@code +roslaunch kobuki_keyop robot_core.launch +@endcode + +and use the arrow keys to navigation, with 'e', 'd' to enable +or disable the motors and 'q' to quit. + + +*/ \ No newline at end of file diff --git a/autonomous_robotics_ros/src/kobuki_keyop/include/keyop_core/keyop_core.hpp b/autonomous_robotics_ros/src/kobuki_keyop/include/keyop_core/keyop_core.hpp new file mode 100644 index 0000000..a46caf5 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/include/keyop_core/keyop_core.hpp @@ -0,0 +1,125 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /include/teleop_core/keyop_core.hpp + * + * @brief The controlling node for remote operations on robot_core. + * + **/ + +/***************************************************************************** + ** Ifdefs + *****************************************************************************/ + +#ifndef KEYOP_CORE_NODE_HPP_ +#define KEYOP_CORE_NODE_HPP_ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include // for keyboard input +#include +#include // for velocity commands +#include // for velocity commands +#include // keycodes from remote teleops. + +/***************************************************************************** + ** Namespaces + *****************************************************************************/ + +namespace keyop_core +{ + +/***************************************************************************** + ** Interface + *****************************************************************************/ +/** + * @brief Keyboard remote control for our robot core (mobile base). + * + */ +class KeyOpCore +{ +public: + /********************* + ** C&D + **********************/ + KeyOpCore(); + ~KeyOpCore(); + bool init(); + + /********************* + ** Runtime + **********************/ + void spin(); + +private: + ros::Subscriber keyinput_subscriber; + ros::Publisher velocity_publisher_; + ros::Publisher motor_power_publisher_; + bool last_zero_vel_sent; + bool accept_incoming; + bool power_status; + bool wait_for_connection_; + geometry_msgs::TwistPtr cmd; + geometry_msgs::TwistStampedPtr cmd_stamped; + double linear_vel_step, linear_vel_max; + double angular_vel_step, angular_vel_max; + std::string name; + + /********************* + ** Commands + **********************/ + void enable(); + void disable(); + void incrementLinearVelocity(); + void decrementLinearVelocity(); + void incrementAngularVelocity(); + void decrementAngularVelocity(); + void resetVelocity(); + + /********************* + ** Keylogging + **********************/ + + void keyboardInputLoop(); + void processKeyboardInput(char c); + void remoteKeyInputReceived(const kobuki_msgs::KeyboardInput& key); + void restoreTerminal(); + bool quit_requested; + int key_file_descriptor; + struct termios original_terminal_state; + ecl::Thread thread; +}; + +} // namespace keyop_core + +#endif /* KEYOP_CORE_NODE_HPP_ */ diff --git a/autonomous_robotics_ros/src/kobuki_keyop/launch/keyop.launch b/autonomous_robotics_ros/src/kobuki_keyop/launch/keyop.launch new file mode 100644 index 0000000..a17b3a0 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/launch/keyop.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_keyop/launch/readme.txt b/autonomous_robotics_ros/src/kobuki_keyop/launch/readme.txt new file mode 100644 index 0000000..450bc92 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/launch/readme.txt @@ -0,0 +1,15 @@ +== Overview == + +All your launchers should go in here - ros will automatically find them when you +use the roslaunch command. + +== Debugging == + +To run gdb on any node in the launch file, simply insert + + launch-prefix="gdb --args" + +before any of the node calls or nodelet manager/standalone calls. For example: + + + diff --git a/autonomous_robotics_ros/src/kobuki_keyop/launch/safe_keyop.launch b/autonomous_robotics_ros/src/kobuki_keyop/launch/safe_keyop.launch new file mode 100644 index 0000000..cdc85c6 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/launch/safe_keyop.launch @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_keyop/package.xml b/autonomous_robotics_ros/src/kobuki_keyop/package.xml new file mode 100644 index 0000000..efe4cce --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/package.xml @@ -0,0 +1,48 @@ + + kobuki_keyop + 0.7.6 + + Keyboard teleoperation for Kobuki: relays commands from a keyboard to Kobuki. + + Daniel Stonier + Daniel Stonier + BSD + https://github.com/yujinrobot/kobuki/issues + https://github.com/yujinrobot/kobuki + http://ros.org/wiki/kobuki_keyop + + catkin + + + geometry_msgs + std_srvs + std_msgs + roscpp + + + ecl_exceptions + ecl_threads + ecl_time + + + kobuki_msgs + + + + geometry_msgs + std_srvs + std_msgs + roscpp + + + ecl_exceptions + ecl_threads + ecl_time + + + kobuki_msgs + + + yocs_cmd_vel_mux + yocs_velocity_smoother + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml b/autonomous_robotics_ros/src/kobuki_keyop/param/keyop_mux.yaml old mode 100755 new mode 100644 similarity index 64% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml rename to autonomous_robotics_ros/src/kobuki_keyop/param/keyop_mux.yaml index 29cb1a3..1e21917 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml +++ b/autonomous_robotics_ros/src/kobuki_keyop/param/keyop_mux.yaml @@ -1,6 +1,7 @@ -# Created on: Dec 5, 2012 +# Created on: Oct 29, 2012 # Author: jorge -# Configuration for subscribers to cmd_vel sources. +# Configuration for subscribers to cmd_vel sources for kobuki keyop operation +# with safety reactive controller. # # Individual subscriber configuration: # name: Source name @@ -11,10 +12,10 @@ subscribers: - name: "Safe reactive controller" - topic: "input/safety_controller" + topic: "safety_controller" timeout: 0.2 priority: 10 - - name: "Follower" - topic: "input/follower" - timeout: 0.5 + - name: "Keyboard operation" + topic: "keyboard_teleop" + timeout: 0.2 priority: 7 diff --git a/autonomous_robotics_ros/src/kobuki_keyop/param/keyop_smoother.yaml b/autonomous_robotics_ros/src/kobuki_keyop/param/keyop_smoother.yaml new file mode 100644 index 0000000..0415e79 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/param/keyop_smoother.yaml @@ -0,0 +1,11 @@ +# Mandatory parameters +speed_lim_v: 0.8 +speed_lim_w: 5.4 + +accel_lim_v: 1.0 +accel_lim_w: 7.0 + +# Optional parameters +frequency: 20.0 +decel_factor: 1.0 + diff --git a/autonomous_robotics_ros/src/kobuki_keyop/src/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_keyop/src/CMakeLists.txt new file mode 100644 index 0000000..6a6414f --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/src/CMakeLists.txt @@ -0,0 +1,17 @@ +############################################################################## +# Sources +############################################################################## + +file(GLOB SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.cpp) + +############################################################################## +# Targets +############################################################################## + +add_executable(keyop ${SOURCES}) +add_dependencies(keyop ${catkin_EXPORTED_TARGETS}) +target_link_libraries(keyop ${catkin_LIBRARIES}) + +install(TARGETS keyop + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_keyop/src/keyop_core.cpp b/autonomous_robotics_ros/src/kobuki_keyop/src/keyop_core.cpp new file mode 100644 index 0000000..9e76ff1 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/src/keyop_core.cpp @@ -0,0 +1,490 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /kobuki_keyop/src/keyop_core.cpp + * + * @brief Creates a node for remote controlling parts of robot_core. + * + **/ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include +#include +#include +#include +#include "../include/keyop_core/keyop_core.hpp" + +/***************************************************************************** + ** Namespaces + *****************************************************************************/ + +namespace keyop_core +{ + +/***************************************************************************** + ** Implementation + *****************************************************************************/ + +/** + * @brief Default constructor, needs initialisation. + */ +KeyOpCore::KeyOpCore() : last_zero_vel_sent(true), // avoid zero-vel messages from the beginning + accept_incoming(true), + power_status(false), + wait_for_connection_(true), + cmd(new geometry_msgs::Twist()), + cmd_stamped(new geometry_msgs::TwistStamped()), + linear_vel_step(0.1), + linear_vel_max(3.4), + angular_vel_step(0.02), + angular_vel_max(1.2), + quit_requested(false), + key_file_descriptor(0) +{ + tcgetattr(key_file_descriptor, &original_terminal_state); // get terminal properties +} + +KeyOpCore::~KeyOpCore() +{ + tcsetattr(key_file_descriptor, TCSANOW, &original_terminal_state); +} + +/** + * @brief Initialises the node. + */ +bool KeyOpCore::init() +{ + ros::NodeHandle nh("~"); + + name = nh.getUnresolvedNamespace(); + + /********************* + ** Parameters + **********************/ + nh.getParam("linear_vel_step", linear_vel_step); + nh.getParam("linear_vel_max", linear_vel_max); + nh.getParam("angular_vel_step", angular_vel_step); + nh.getParam("angular_vel_max", angular_vel_max); + nh.getParam("wait_for_connection", wait_for_connection_); + + ROS_INFO_STREAM("KeyOpCore : using linear vel step [" << linear_vel_step << "]."); + ROS_INFO_STREAM("KeyOpCore : using linear vel max [" << linear_vel_max << "]."); + ROS_INFO_STREAM("KeyOpCore : using angular vel step [" << angular_vel_step << "]."); + ROS_INFO_STREAM("KeyOpCore : using angular vel max [" << angular_vel_max << "]."); + + /********************* + ** Subscribers + **********************/ + keyinput_subscriber = nh.subscribe("teleop", 1, &KeyOpCore::remoteKeyInputReceived, this); + + /********************* + ** Publishers + **********************/ + velocity_publisher_ = nh.advertise("cmd_vel", 1); + motor_power_publisher_ = nh.advertise("motor_power", 1); + + /********************* + ** Velocities + **********************/ + cmd->linear.x = 0.0; + cmd->linear.y = 0.0; + cmd->linear.z = 0.0; + cmd->angular.x = 0.0; + cmd->angular.y = 0.0; + cmd->angular.z = 0.0; + + /********************* + ** Wait for connection + **********************/ + if (!wait_for_connection_) + { + return true; + } + ecl::MilliSleep millisleep; + int count = 0; + bool connected = false; + while (!connected) + { + if (motor_power_publisher_.getNumSubscribers() > 0) + { + connected = true; + break; + } + if (count == 6) + { + connected = false; + break; + } + else + { + ROS_WARN_STREAM("KeyOp: could not connect, trying again after 500ms..."); + try + { + millisleep(500); + } + catch (ecl::StandardException e) + { + ROS_ERROR_STREAM("Waiting has been interrupted."); + ROS_DEBUG_STREAM(e.what()); + return false; + } + ++count; + } + } + if (!connected) + { + ROS_ERROR("KeyOp: could not connect."); + ROS_ERROR("KeyOp: check remappings for enable/disable topics)."); + } + else + { + kobuki_msgs::MotorPower power_cmd; + power_cmd.state = kobuki_msgs::MotorPower::ON; + motor_power_publisher_.publish(power_cmd); + ROS_INFO("KeyOp: connected."); + power_status = true; + } + + // start keyboard input thread + thread.start(&KeyOpCore::keyboardInputLoop, *this); + return true; +} + +/***************************************************************************** + ** Implementation [Spin] + *****************************************************************************/ + +/** + * @brief Worker thread loop; sends current velocity command at a fixed rate. + * + * It also process ros functions as well as aborting when requested. + */ +void KeyOpCore::spin() +{ + ros::Rate loop_rate(10); + + while (!quit_requested && ros::ok()) + { + // Avoid spamming robot with continuous zero-velocity messages + if ((cmd->linear.x != 0.0) || (cmd->linear.y != 0.0) || (cmd->linear.z != 0.0) || + (cmd->angular.x != 0.0) || (cmd->angular.y != 0.0) || (cmd->angular.z != 0.0)) + { + velocity_publisher_.publish(cmd); + last_zero_vel_sent = false; + } + else if (last_zero_vel_sent == false) + { + velocity_publisher_.publish(cmd); + last_zero_vel_sent = true; + } + accept_incoming = true; + ros::spinOnce(); + loop_rate.sleep(); + } + if (quit_requested) + { // ros node is still ok, send a disable command + disable(); + } + else + { + // just in case we got here not via a keyboard quit request + quit_requested = true; + thread.cancel(); + } + thread.join(); +} + +/***************************************************************************** + ** Implementation [Keyboard] + *****************************************************************************/ + +/** + * @brief The worker thread function that accepts input keyboard commands. + * + * This is ok here - but later it might be a good idea to make a node which + * posts keyboard events to a topic. Recycle common code if used by many! + */ +void KeyOpCore::keyboardInputLoop() +{ + struct termios raw; + memcpy(&raw, &original_terminal_state, sizeof(struct termios)); + + raw.c_lflag &= ~(ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(key_file_descriptor, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Forward/back arrows : linear velocity incr/decr."); + puts("Right/left arrows : angular velocity incr/decr."); + puts("Spacebar : reset linear/angular velocities."); + puts("d : disable motors."); + puts("e : enable motors."); + puts("q : quit."); + char c; + while (!quit_requested) + { + if (read(key_file_descriptor, &c, 1) < 0) + { + perror("read char failed():"); + exit(-1); + } + processKeyboardInput(c); + } +} + +/** + * @brief Callback function for remote keyboard inputs subscriber. + */ +void KeyOpCore::remoteKeyInputReceived(const kobuki_msgs::KeyboardInput& key) +{ + processKeyboardInput(key.pressedKey); +} + +/** + * @brief Process individual keyboard inputs. + * + * @param c keyboard input. + */ +void KeyOpCore::processKeyboardInput(char c) +{ + /* + * Arrow keys are a bit special, they are escape characters - meaning they + * trigger a sequence of keycodes. In this case, 'esc-[-Keycode_xxx'. We + * ignore the esc-[ and just parse the last one. So long as we avoid using + * the last one for its actual purpose (e.g. left arrow corresponds to + * esc-[-D) we can keep the parsing simple. + */ + switch (c) + { + case kobuki_msgs::KeyboardInput::KeyCode_Left: + { + incrementAngularVelocity(); + break; + } + case kobuki_msgs::KeyboardInput::KeyCode_Right: + { + decrementAngularVelocity(); + break; + } + case kobuki_msgs::KeyboardInput::KeyCode_Up: + { + incrementLinearVelocity(); + break; + } + case kobuki_msgs::KeyboardInput::KeyCode_Down: + { + decrementLinearVelocity(); + break; + } + case kobuki_msgs::KeyboardInput::KeyCode_Space: + { + resetVelocity(); + break; + } + case 'q': + { + quit_requested = true; + break; + } + case 'd': + { + disable(); + break; + } + case 'e': + { + enable(); + break; + } + default: + { + break; + } + } +} + +/***************************************************************************** + ** Implementation [Commands] + *****************************************************************************/ +/** + * @brief Disables commands to the navigation system. + * + * This does the following things: + * + * - Disables power to the navigation motors (via device_manager). + * @param msg + */ +void KeyOpCore::disable() +{ + cmd->linear.x = 0.0; + cmd->angular.z = 0.0; + velocity_publisher_.publish(cmd); + accept_incoming = false; + + if (power_status) + { + ROS_INFO("KeyOp: die, die, die (disabling power to the device's motor system)."); + kobuki_msgs::MotorPower power_cmd; + power_cmd.state = kobuki_msgs::MotorPower::OFF; + motor_power_publisher_.publish(power_cmd); + power_status = false; + } + else + { + ROS_WARN("KeyOp: Motor system has already been powered down."); + } +} + +/** + * @brief Reset/re-enable the navigation system. + * + * - resets the command velocities. + * - reenable power if not enabled. + */ +void KeyOpCore::enable() +{ + accept_incoming = false; + + cmd->linear.x = 0.0; + cmd->angular.z = 0.0; + velocity_publisher_.publish(cmd); + + if (!power_status) + { + ROS_INFO("KeyOp: Enabling power to the device subsystem."); + kobuki_msgs::MotorPower power_cmd; + power_cmd.state = kobuki_msgs::MotorPower::ON; + motor_power_publisher_.publish(power_cmd); + power_status = true; + } + else + { + ROS_WARN("KeyOp: Device has already been powered up."); + } +} + +/** + * @brief If not already maxxed, increment the command velocities.. + */ +void KeyOpCore::incrementLinearVelocity() +{ + if (power_status) + { + if (cmd->linear.x <= linear_vel_max) + { + cmd->linear.x += linear_vel_step; + } + ROS_INFO_STREAM("KeyOp: linear velocity incremented [" << cmd->linear.x << "|" << cmd->angular.z << "]"); + } + else + { + ROS_WARN_STREAM("KeyOp: motors are not yet powered up."); + } +} + +/** + * @brief If not already minned, decrement the linear velocities.. + */ +void KeyOpCore::decrementLinearVelocity() +{ + if (power_status) + { + if (cmd->linear.x >= -linear_vel_max) + { + cmd->linear.x -= linear_vel_step; + } + ROS_INFO_STREAM("KeyOp: linear velocity decremented [" << cmd->linear.x << "|" << cmd->angular.z << "]"); + } + else + { + ROS_WARN_STREAM("KeyOp: motors are not yet powered up."); + } +} + +/** + * @brief If not already maxxed, increment the angular velocities.. + */ +void KeyOpCore::incrementAngularVelocity() +{ + if (power_status) + { + if (cmd->angular.z <= angular_vel_max) + { + cmd->angular.z += angular_vel_step; + } + ROS_INFO_STREAM("KeyOp: angular velocity incremented [" << cmd->linear.x << "|" << cmd->angular.z << "]"); + } + else + { + ROS_WARN_STREAM("KeyOp: motors are not yet powered up."); + } +} + +/** + * @brief If not already mined, decrement the angular velocities.. + */ +void KeyOpCore::decrementAngularVelocity() +{ + if (power_status) + { + if (cmd->angular.z >= -angular_vel_max) + { + cmd->angular.z -= angular_vel_step; + } + ROS_INFO_STREAM("KeyOp: angular velocity decremented [" << cmd->linear.x << "|" << cmd->angular.z << "]"); + } + else + { + ROS_WARN_STREAM("KeyOp: motors are not yet powered up."); + } +} + +void KeyOpCore::resetVelocity() +{ + if (power_status) + { + cmd->angular.z = 0.0; + cmd->linear.x = 0.0; + ROS_INFO_STREAM("KeyOp: reset linear/angular velocities."); + } + else + { + ROS_WARN_STREAM("KeyOp: motors are not yet powered up."); + } +} + +} // namespace keyop_core diff --git a/autonomous_robotics_ros/src/kobuki_keyop/src/main.cpp b/autonomous_robotics_ros/src/kobuki_keyop/src/main.cpp new file mode 100644 index 0000000..dfddad3 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_keyop/src/main.cpp @@ -0,0 +1,68 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /kobuki_keyop/src/main.cpp + * + * @brief Executable code for the keyop node. + * + **/ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include "../include/keyop_core/keyop_core.hpp" + +/***************************************************************************** +** Using +*****************************************************************************/ + +using keyop_core::KeyOpCore; + +/***************************************************************************** +** Main +*****************************************************************************/ + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "kobuki_keyop"); + KeyOpCore keyop; + if (keyop.init()) + { + keyop.spin(); + } + else + { + ROS_ERROR_STREAM("Couldn't initialise KeyOpCore!"); + } + + ROS_INFO_STREAM("Program exiting"); + return 0; +} diff --git a/autonomous_robotics_ros/src/kobuki_msgs b/autonomous_robotics_ros/src/kobuki_msgs new file mode 160000 index 0000000..ec50979 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_msgs @@ -0,0 +1 @@ +Subproject commit ec509794beaf2f7b5e8dea971054386bfee817f8 diff --git a/autonomous_robotics_ros/src/kobuki_node/.cproject b/autonomous_robotics_ros/src/kobuki_node/.cproject new file mode 100644 index 0000000..a7987fd --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/.cproject @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.project b/autonomous_robotics_ros/src/kobuki_node/.project old mode 100755 new mode 100644 similarity index 97% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.project rename to autonomous_robotics_ros/src/kobuki_node/.project index 5337e3e..5b0f5c7 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.project +++ b/autonomous_robotics_ros/src/kobuki_node/.project @@ -1,8 +1,9 @@ - turtlebot_calibration + kobuki_node + kobuki_driver diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.pydevproject b/autonomous_robotics_ros/src/kobuki_node/.pydevproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.pydevproject rename to autonomous_robotics_ros/src/kobuki_node/.pydevproject diff --git a/autonomous_robotics_ros/src/kobuki_node/CHANGELOG.rst b/autonomous_robotics_ros/src/kobuki_node/CHANGELOG.rst new file mode 100644 index 0000000..20c5acd --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/CHANGELOG.rst @@ -0,0 +1,88 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package kobuki_node +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.7.6 (2018-03-14) +------------------ +* Use more finite values for initial odometry covariance (i.e. not DBL_MAX) so as not to cause problems upstream + +0.6.6 (2015-05-27) +------------------ +* install image directory closes `#357 `_ +* Contributors: Jihoon Lee + +0.6.5 (2014-11-21) +------------------ +* update diagnostics.yaml to show kobuki battery properly in kobuki dashboard. Fix `#350 `_ +* Contributors: Jihoon Lee + +0.6.4 (2014-08-26) +------------------ +* Merge branch 'indigo' of https://github.com/yujinrobot/kobuki into indigo +* rename run_depend of kobuki_node from kobuki_apps to kobuki_rapps +* Contributors: Jihoon Lee + +0.6.3 (2014-08-25) +------------------ + +0.6.2 (2014-08-11) +------------------ +* add queue_size on publiehrs `#338 `_ +* fixing the file link resolves `#339 `_ +* Contributors: Jihoon Lee + +0.6.1 (2014-08-08) +------------------ + +0.6.0 (2014-08-08) +------------------ +* remove kobuki_capabilities dependency from package.xml remove author emails +* moves app manager launcher to kobuki_capabilities (solves `#331 `_) +* kobuki_node: adds shutdown flag to nodelet (fixes `#324 `_) +* fixes typo +* updates icons for apps and app manager launcher +* adds minor changes due to capability server and app manager updates +* updates for new rapp lists +* publish_tf arg for the launcher. +* removes rviz launcher and dependency (fixes `#315 `_) +* adds app manager and capability server launcher for kobuki +* Add missing run dependency on yocs_cmd_vel_mux +* Contributors: Daniel Stonier, Jihoon Lee, Jorge Santos, Marcus Liebhardt + +0.5.5 (2013-10-11) +------------------ +* Add ftdi dependency. + +0.5.4 (2013-09-06) +------------------ + +0.5.3 (2013-08-30) +------------------ +* adds view robot launcher. + +0.5.0 (2013-08-29) +------------------ +* Added new interface about custom PID gain setting. +* Added extra url info on all packages. +* Updated old rnd email address. +* lock api for protecting data access with asynchronous getXXX calls. +* Fix URL to the previous changelog wiki. +* Changelogs at package level. +* Reset odometry also for heading. +* Set use_imu_heading as true (default). +* Do not use robot_pose_ekf. Instead, use imu for heading and encoders por x and y. However, parameter use_imu_heading makes trivial to switch back to the previous system. +* Added a debug topic that publish actual base command sent to robot. +* Added flexible logging features to using named logging system of ros/log4cxx. +* Reset odometry also works for heading (gyro). +* Do not use robot_pose_ekf; use imu for heading and encoders for position. + +0.4.0 (2013-08-09) +------------------ +* Change deprecated state_publisher to robot_state_publisher in launch files. +* Add launch file for full tf. + + +Previous versions, bugfixing +============================ + +Available in ROS wiki: http://ros.org/wiki/kobuki/ChangeList diff --git a/autonomous_robotics_ros/src/kobuki_node/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_node/CMakeLists.txt new file mode 100644 index 0000000..73ee414 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kobuki_node) +find_package(catkin REQUIRED COMPONENTS rospy roscpp nodelet pluginlib tf angles + geometry_msgs sensor_msgs nav_msgs std_msgs diagnostic_updater diagnostic_msgs + kobuki_msgs kobuki_driver kobuki_keyop kobuki_safety_controller + ecl_exceptions ecl_sigslots ecl_streams ecl_threads) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES kobuki_ros kobuki_nodelet + CATKIN_DEPENDS rospy roscpp nodelet pluginlib tf angles + geometry_msgs sensor_msgs nav_msgs std_msgs diagnostic_updater diagnostic_msgs + kobuki_msgs kobuki_driver kobuki_keyop kobuki_safety_controller + ecl_exceptions ecl_sigslots ecl_streams ecl_threads +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +add_subdirectory(src) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(DIRECTORY plugins + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY param + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY image + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(PROGRAMS scripts/getOdom2D.py + scripts/getYaw.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_node/LICENSE b/autonomous_robotics_ros/src/kobuki_node/LICENSE new file mode 100644 index 0000000..cf09699 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/LICENSE @@ -0,0 +1,32 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012 Yujin Robot, Daniel Stonier, Jorge Santos, +# Marcus Liebhardt, Younghun Ju, Jihoon Lee +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Yujin Robot nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. diff --git a/autonomous_robotics_ros/src/kobuki_node/image/kobuki_icon.png b/autonomous_robotics_ros/src/kobuki_node/image/kobuki_icon.png new file mode 100644 index 0000000..6ba3ad3 Binary files /dev/null and b/autonomous_robotics_ros/src/kobuki_node/image/kobuki_icon.png differ diff --git a/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/diagnostics.hpp b/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/diagnostics.hpp new file mode 100644 index 0000000..cb48888 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/diagnostics.hpp @@ -0,0 +1,173 @@ +/** + * @file /kobuki_node/include/kobuki_node/diagnostics.hpp + * + * @brief Diagnostics for the kobuki node. + * + * License: BSD + * https://raw.github.com/yujinrobot/kobuki/hydro-devel/kobuki_node/LICENSE + **/ +/***************************************************************************** +** Ifdefs +*****************************************************************************/ + +#ifndef KOBUKI_NODE_DIAGNOSTICS_HPP_ +#define KOBUKI_NODE_DIAGNOSTICS_HPP_ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include +#include +#include +#include + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace kobuki { + +/***************************************************************************** +** Interfaces +*****************************************************************************/ + + +/** + * Diagnostic checking the robot battery and charging status. + */ +class BatteryTask : public diagnostic_updater::DiagnosticTask { +public: + BatteryTask() : DiagnosticTask("Battery") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const Battery &battery) { status = battery; } + +private: + Battery status; +}; + +/** + * Simple diagnostic checking to see if kobuki is streaming data or not. + */ +class WatchdogTask : public diagnostic_updater::DiagnosticTask { +public: + WatchdogTask() : DiagnosticTask("Watchdog"), alive(false) {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const bool &is_alive) { alive = is_alive; } + bool isAlive() const { return alive; } + +private: + bool alive; +}; + +/** + * Diagnostic checking the cliff sensors status. + */ +class CliffSensorTask : public diagnostic_updater::DiagnosticTask { +public: + CliffSensorTask() : DiagnosticTask("Cliff Sensor") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const uint8_t &new_status, const Cliff::Data &new_values) { + status = new_status; values = new_values; + } + +private: + uint8_t status; + Cliff::Data values; +}; + +/** + * Diagnostic checking the wall sensors (aka bumpers) status. + */ +class WallSensorTask : public diagnostic_updater::DiagnosticTask { +public: + WallSensorTask() : DiagnosticTask("Wall Sensor") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const uint8_t &new_status) { status = new_status; } + +private: + uint8_t status; +}; + +/** + * Diagnostic checking whether the wheels stay in contact with the ground. + */ +class WheelDropTask : public diagnostic_updater::DiagnosticTask { +public: + WheelDropTask() : DiagnosticTask("Wheel Drop") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const uint8_t &new_status) { status = new_status; } + +private: + uint8_t status; +}; + +/** + * Diagnostic checking the current supplied to the motors, what + * can be useful for detecting whether the robot is blocked. + */ +class MotorCurrentTask : public diagnostic_updater::DiagnosticTask { +public: + MotorCurrentTask() : DiagnosticTask("Motor Current") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const std::vector &new_values) { values = new_values; } + +private: + std::vector values; +}; + +/** + * Diagnostic checking the on/off state of the motors + */ +class MotorStateTask : public diagnostic_updater::DiagnosticTask { +public: + MotorStateTask() : DiagnosticTask("Motor State") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(bool new_state) { state = new_state; }; + +private: + bool state; +}; + +/** + * Diagnostic checking the gyro sensor status. + */ +class GyroSensorTask : public diagnostic_updater::DiagnosticTask { +public: + GyroSensorTask() : DiagnosticTask("Gyro Sensor") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(int16_t new_heading) { heading = new_heading; } + +private: + int16_t heading; +}; + +/** + * Diagnostic checking the state of the digital input port (four bits). + */ +class DigitalInputTask : public diagnostic_updater::DiagnosticTask { +public: + DigitalInputTask() : DiagnosticTask("Digital Input") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(uint16_t new_status) { status = new_status; } + +private: + uint16_t status; +}; + +/** + * Diagnostic checking the state of the analog input port (four short integers). + */ +class AnalogInputTask : public diagnostic_updater::DiagnosticTask { +public: + AnalogInputTask() : DiagnosticTask("Analog Input") {} + void run(diagnostic_updater::DiagnosticStatusWrapper &stat); + void update(const std::vector &new_values) { values = new_values; } + +private: + std::vector values; +}; + +} // namespace kobuki + +#endif /* KOBUKI_NODE_DIAGNOSTICS_HPP_ */ diff --git a/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/kobuki_ros.hpp b/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/kobuki_ros.hpp new file mode 100644 index 0000000..f6dfe6a --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/kobuki_ros.hpp @@ -0,0 +1,219 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file /kobuki_node/include/kobuki_node/kobuki_ros.hpp + * + * @brief Wraps the kobuki driver in a ROS-specific library + * + **/ + +/***************************************************************************** + ** Ifdefs + *****************************************************************************/ + +#ifndef KOBUKI_ROS_HPP_ +#define KOBUKI_ROS_HPP_ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "diagnostics.hpp" +#include "odometry.hpp" + +/***************************************************************************** + ** Namespaces + *****************************************************************************/ + +namespace kobuki +{ +class KobukiRos +{ +public: + KobukiRos(std::string& node_name); + ~KobukiRos(); + bool init(ros::NodeHandle& nh, ros::NodeHandle& nh_pub); + bool update(); + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +private: + /********************* + ** Variables + **********************/ + std::string name; // name of the ROS node + Kobuki kobuki; + sensor_msgs::JointState joint_states; + Odometry odometry; + bool cmd_vel_timed_out_; // stops warning spam when cmd_vel flags as timed out more than once in a row + bool serial_timed_out_; // stops warning spam when serial connection timed out more than once in a row + + /********************* + ** Ros Comms + **********************/ + ros::Publisher version_info_publisher, controller_info_publisher; + ros::Publisher imu_data_publisher, sensor_state_publisher, joint_state_publisher, dock_ir_publisher, raw_imu_data_publisher; + ros::Publisher button_event_publisher, input_event_publisher, robot_event_publisher; + ros::Publisher bumper_event_publisher, cliff_event_publisher, wheel_event_publisher, power_event_publisher; + ros::Publisher raw_data_command_publisher, raw_data_stream_publisher, raw_control_command_publisher; + + ros::Subscriber velocity_command_subscriber, digital_output_command_subscriber, external_power_command_subscriber; + ros::Subscriber controller_info_command_subscriber; + ros::Subscriber led1_command_subscriber, led2_command_subscriber, sound_command_subscriber; + ros::Subscriber motor_power_subscriber, reset_odometry_subscriber; + + void advertiseTopics(ros::NodeHandle& nh); + void subscribeTopics(ros::NodeHandle& nh); + + /********************* + ** Ros Callbacks + **********************/ + void subscribeVelocityCommand(const geometry_msgs::TwistConstPtr); + void subscribeLed1Command(const kobuki_msgs::LedConstPtr); + void subscribeLed2Command(const kobuki_msgs::LedConstPtr); + void subscribeDigitalOutputCommand(const kobuki_msgs::DigitalOutputConstPtr); + void subscribeExternalPowerCommand(const kobuki_msgs::ExternalPowerConstPtr); + void subscribeResetOdometry(const std_msgs::EmptyConstPtr); + void subscribeSoundCommand(const kobuki_msgs::SoundConstPtr); + void subscribeMotorPower(const kobuki_msgs::MotorPowerConstPtr msg); + void subscribeControllerInfoCommand(const kobuki_msgs::ControllerInfoConstPtr msg); + + /********************* + ** SigSlots + **********************/ + ecl::Slot slot_version_info; + ecl::Slot<> slot_stream_data; + ecl::Slot<> slot_controller_info; + ecl::Slot slot_button_event; + ecl::Slot slot_bumper_event; + ecl::Slot slot_cliff_event; + ecl::Slot slot_wheel_event; + ecl::Slot slot_power_event; + ecl::Slot slot_input_event; + ecl::Slot slot_robot_event; + ecl::Slot slot_debug, slot_info, slot_warn, slot_error; + ecl::Slot&> slot_named; + ecl::Slot slot_raw_data_command; + ecl::Slot slot_raw_data_stream; + ecl::Slot&> slot_raw_control_command; + + /********************* + ** Slot Callbacks + **********************/ + void processStreamData(); + void publishWheelState(); + void publishInertia(); + void publishRawInertia(); + void publishSensorState(); + void publishDockIRData(); + void publishVersionInfo(const VersionInfo &version_info); + void publishControllerInfo(); + void publishButtonEvent(const ButtonEvent &event); + void publishBumperEvent(const BumperEvent &event); + void publishCliffEvent(const CliffEvent &event); + void publishWheelEvent(const WheelEvent &event); + void publishPowerEvent(const PowerEvent &event); + void publishInputEvent(const InputEvent &event); + void publishRobotEvent(const RobotEvent &event); + + + // debugging + void rosDebug(const std::string &msg) { ROS_DEBUG_STREAM("Kobuki : " << msg); } + void rosInfo(const std::string &msg) { ROS_INFO_STREAM("Kobuki : " << msg); } + void rosWarn(const std::string &msg) { ROS_WARN_STREAM("Kobuki : " << msg); } + void rosError(const std::string &msg) { ROS_ERROR_STREAM("Kobuki : " << msg); } + void rosNamed(const std::vector &msgs) { + if (msgs.size()==0) return; + if (msgs.size()==1) { ROS_INFO_STREAM("Kobuki : " << msgs[0]); } + if (msgs.size()==2) { + if (msgs[0] == "debug") { ROS_DEBUG_STREAM("Kobuki : " << msgs[1]); } + else if (msgs[0] == "info" ) { ROS_INFO_STREAM ("Kobuki : " << msgs[1]); } + else if (msgs[0] == "warn" ) { ROS_WARN_STREAM ("Kobuki : " << msgs[1]); } + else if (msgs[0] == "error") { ROS_ERROR_STREAM("Kobuki : " << msgs[1]); } + else if (msgs[0] == "fatal") { ROS_FATAL_STREAM("Kobuki : " << msgs[1]); } + } + if (msgs.size()==3) { + if (msgs[0] == "debug") { ROS_DEBUG_STREAM_NAMED(msgs[1], "Kobuki : " << msgs[2]); } + else if (msgs[0] == "info" ) { ROS_INFO_STREAM_NAMED (msgs[1], "Kobuki : " << msgs[2]); } + else if (msgs[0] == "warn" ) { ROS_WARN_STREAM_NAMED (msgs[1], "Kobuki : " << msgs[2]); } + else if (msgs[0] == "error") { ROS_ERROR_STREAM_NAMED(msgs[1], "Kobuki : " << msgs[2]); } + else if (msgs[0] == "fatal") { ROS_FATAL_STREAM_NAMED(msgs[1], "Kobuki : " << msgs[2]); } + } + } + + void publishRawDataCommand(Command::Buffer &buffer); + void publishRawDataStream(PacketFinder::BufferType &buffer); + void publishRawControlCommand(const std::vector &velocity_commands); + + /********************* + ** Diagnostics + **********************/ + diagnostic_updater::Updater updater; + BatteryTask battery_diagnostics; + WatchdogTask watchdog_diagnostics; + CliffSensorTask cliff_diagnostics; + WallSensorTask bumper_diagnostics; + WheelDropTask wheel_diagnostics; + MotorCurrentTask motor_diagnostics; + MotorStateTask state_diagnostics; + GyroSensorTask gyro_diagnostics; + DigitalInputTask dinput_diagnostics; + AnalogInputTask ainput_diagnostics; +}; + +} // namespace kobuki + +#endif /* KOBUKI_ROS_HPP_ */ diff --git a/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/odometry.hpp b/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/odometry.hpp new file mode 100644 index 0000000..fd18e55 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/include/kobuki_node/odometry.hpp @@ -0,0 +1,68 @@ +/** + * @file /kobuki_node/include/kobuki_node/odometry.hpp + * + * @brief File comment + * + * File comment + * + **/ +/***************************************************************************** +** Ifdefs +*****************************************************************************/ + +#ifndef KOBUKI_NODE_ODOMETRY_HPP_ +#define KOBUKI_NODE_ODOMETRY_HPP_ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include +#include +#include +#include +#include + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace kobuki { + +/***************************************************************************** +** Interfaces +*****************************************************************************/ + +/** + * @brief Odometry for the kobuki node. + **/ +class Odometry { +public: + Odometry(); + void init(ros::NodeHandle& nh, const std::string& name); + bool commandTimeout() const; + void update(const ecl::LegacyPose2D &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates, + double imu_heading, double imu_angular_velocity); + void resetOdometry() { pose.setIdentity(); } + const ros::Duration& timeout() const { return cmd_vel_timeout; } + void resetTimeout() { last_cmd_time = ros::Time::now(); } + +private: + geometry_msgs::TransformStamped odom_trans; + ecl::LegacyPose2D pose; + std::string odom_frame; + std::string base_frame; + ros::Duration cmd_vel_timeout; + ros::Time last_cmd_time; + bool publish_tf; + bool use_imu_heading; + tf::TransformBroadcaster odom_broadcaster; + ros::Publisher odom_publisher; + + void publishTransform(const geometry_msgs::Quaternion &odom_quat); + void publishOdometry(const geometry_msgs::Quaternion &odom_quat, const ecl::linear_algebra::Vector3d &pose_update_rates); +}; + +} // namespace kobuki + +#endif /* KOBUKI_NODE_ODOMETRY_HPP_ */ diff --git a/autonomous_robotics_ros/src/kobuki_node/launch/debugging.txt b/autonomous_robotics_ros/src/kobuki_node/launch/debugging.txt new file mode 100644 index 0000000..e1cd523 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/launch/debugging.txt @@ -0,0 +1,9 @@ +== Debugging == + +To run gdb on any node in the launch file, simply insert + + launch-prefix="gdb --args" + +before any of the node calls or nodelet manager/standalone calls. For example: + + diff --git a/autonomous_robotics_ros/src/kobuki_node/launch/minimal.launch b/autonomous_robotics_ros/src/kobuki_node/launch/minimal.launch new file mode 100644 index 0000000..bbecb5c --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/launch/minimal.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_node/launch/robot_with_tf.launch b/autonomous_robotics_ros/src/kobuki_node/launch/robot_with_tf.launch new file mode 100644 index 0000000..f493b64 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/launch/robot_with_tf.launch @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_node/launch/test_get_odom.launch b/autonomous_robotics_ros/src/kobuki_node/launch/test_get_odom.launch new file mode 100644 index 0000000..3bc1b09 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/launch/test_get_odom.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_node/launch/test_get_yaw.launch b/autonomous_robotics_ros/src/kobuki_node/launch/test_get_yaw.launch new file mode 100644 index 0000000..a08d33b --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/launch/test_get_yaw.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_node/package.xml b/autonomous_robotics_ros/src/kobuki_node/package.xml new file mode 100644 index 0000000..1e32baf --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/package.xml @@ -0,0 +1,83 @@ + + kobuki_node + 0.7.6 + + ROS nodelet for Kobuki: ROS wrapper for the Kobuki driver. + + Daniel Stonier + Younghun Ju + Jorge Santos Simon + Daniel Stonier + BSD + https://github.com/yujinrobot/kobuki/issues + https://github.com/yujinrobot/kobuki + http://ros.org/wiki/kobuki_node + + catkin + + + roscpp + geometry_msgs + sensor_msgs + nav_msgs + std_msgs + tf + angles + diagnostic_updater + diagnostic_msgs + nodelet + pluginlib + + + kobuki_msgs + kobuki_driver + kobuki_ftdi + kobuki_keyop + kobuki_safety_controller + + + ecl_exceptions + ecl_sigslots + ecl_streams + ecl_threads + + + rospy + + + + capabilities + roscpp + geometry_msgs + sensor_msgs + nav_msgs + std_msgs + tf + angles + diagnostic_aggregator + diagnostic_updater + diagnostic_msgs + nodelet + pluginlib + + + kobuki_rapps + kobuki_msgs + kobuki_driver + kobuki_ftdi + kobuki_keyop + kobuki_safety_controller + + + ecl_exceptions + ecl_sigslots + ecl_streams + ecl_threads + + + rospy + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_node/param/base.yaml b/autonomous_robotics_ros/src/kobuki_node/param/base.yaml new file mode 100644 index 0000000..27bfb59 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/param/base.yaml @@ -0,0 +1,36 @@ +############################################################################## +# Firmware Source +############################################################################## + +device_port: /dev/kobuki + +# published joint states +wheel_left_joint_name: wheel_left_joint +wheel_right_joint_name: wheel_right_joint + +# battery voltage at full charge (100%) (float, default: 16.5) +battery_capacity: 16.5 + +# battery voltage at first warning (15%) (float, default: 13.5) +battery_low: 14.0 + +# battery voltage at critical level (5%) (float, default: 13.2) +battery_dangerous: 13.2 + +# If a new command isn't received within this many seconds, the base is stopped (double, default: 0.6) +cmd_vel_timeout: 0.6 + +# Causes node to publish TF for odom_frame to base_frame. Disable only if you plan to use robot_pose_ekf +# (see use_imu_heading description) (bool, default: true) +publish_tf: true + +# Use imu readings for heading instead of encoders. That's the normal operation mode for Kobuki, as its +# gyro is very reliable. Disable only if you want to fuse encoders and imu readings in a more sophisticated +# way, for example filtering and fussing with robot_pose_ekf (bool, default: true) +use_imu_heading: true + +# Name of the odometry TF frame (string, default: odom) +odom_frame: odom + +# Name of the base TF frame (string, default: base_footprint) +base_frame: base_footprint diff --git a/autonomous_robotics_ros/src/kobuki_node/param/cmd_vel_mux_minimal.yaml b/autonomous_robotics_ros/src/kobuki_node/param/cmd_vel_mux_minimal.yaml new file mode 100644 index 0000000..4f066c2 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/param/cmd_vel_mux_minimal.yaml @@ -0,0 +1,38 @@ +# Created on: Oct 29, 2012 +# Author: jorge +# Configuration for subscribers to cmd_vel sources. +# +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides cmd_vel messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Default input" + topic: "cmd_vel" + timeout: 0.1 + priority: 0 + short_desc: "Default velocity topic; controllers unaware that we are multiplexing cmd_vel will come here" + - name: "Navigation stack" + topic: "nav_cmd_vel" + timeout: 0.5 + priority: 1 + short_desc: "ROS navigation stack controller" + - name: "Onboard joystick" + topic: "joy_cmd_vel" + timeout: 0.1 + priority: 10 + - name: "Remote control" + topic: "rem_cmd_vel" + timeout: 0.1 + priority: 9 + - name: "Web application" + topic: "web_cmd_vel" + timeout: 0.3 + priority: 8 + - name: "Keyboard operation" + topic: "key_cmd_vel" + timeout: 0.1 + priority: 7 diff --git a/autonomous_robotics_ros/src/kobuki_node/param/cmd_vel_mux_safe.yaml b/autonomous_robotics_ros/src/kobuki_node/param/cmd_vel_mux_safe.yaml new file mode 100644 index 0000000..3c93e50 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/param/cmd_vel_mux_safe.yaml @@ -0,0 +1,23 @@ +# Created on: Oct 29, 2012 +# Author: jorge +# Configuration for subscribers to cmd_vel sources. This file is provided just as an example. +# Typically automatic controllers, as ROS navigation stack should have the minimum priority +# +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides cmd_vel messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Default input" + topic: "cmd_vel" + timeout: 0.2 + priority: 0 + short_desc: "Default velocity topic; controllers unaware that we are multiplexing cmd_vel will come here" + - name: "Safety Controller" + topic: "cmd_vel_safety" + timeout: 0.2 + priority: 10 + short_desc: "Kobuki's safety controller" diff --git a/autonomous_robotics_ros/src/kobuki_node/param/diagnostics.yaml b/autonomous_robotics_ros/src/kobuki_node/param/diagnostics.yaml new file mode 100644 index 0000000..5ec36ed --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/param/diagnostics.yaml @@ -0,0 +1,37 @@ +# The remove_prefix is important - it corresponds to the name of +# the node that is automatically prefixed to cpp diagnostic task +# names. In our case it's the mobile base nodelet manager name. +# Android is not expecting this, so we need to remove it. + +pub_rate: 1.0 # Optional +base_path: '' # Optional, prepended to all diagnostic output +analyzers: + power: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Power System' + timeout: 5.0 + contains: ['Battery'] + remove_prefix: mobile_base_nodelet_manager + kobuki: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Kobuki' + timeout: 5.0 + contains: ['Watchdog', 'Motor State'] + remove_prefix: mobile_base_nodelet_manager + sensors: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Sensors' + timeout: 5.0 + contains: ['Cliff Sensor', 'Wall Sensor', 'Wheel Drop', 'Motor Current', 'Gyro Sensor'] + remove_prefix: mobile_base_nodelet_manager + input_ports: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Input Ports' + timeout: 5.0 + contains: ['Digital Input', 'Analog Input'] + remove_prefix: mobile_base_nodelet_manager +# nodes: +# type: diagnostic_aggregator/GenericAnalyzer +# path: 'Nodes' +# timeout: 5.0 +# contains: ['Node'] diff --git a/autonomous_robotics_ros/src/kobuki_node/param/webop_mux.yaml b/autonomous_robotics_ros/src/kobuki_node/param/webop_mux.yaml new file mode 100644 index 0000000..9cdc787 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/param/webop_mux.yaml @@ -0,0 +1,25 @@ +# Created on: Oct 29, 2012 +# Author: jorge +# Configuration for subscribers to cmd_vel sources for kobuki web app operation +# with safety reactive controller. +# +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides cmd_vel messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Safe reactive controller" + topic: "safety_controller" + timeout: 0.2 + priority: 10 + - name: "Keyboard operation" + topic: "keyboard_teleop" + timeout: 0.2 + priority: 2 + - name: "Web application" + topic: "web_app_teleop" + timeout: 0.3 + priority: 8 diff --git a/autonomous_robotics_ros/src/kobuki_node/plugins/nodelet_plugins.xml b/autonomous_robotics_ros/src/kobuki_node/plugins/nodelet_plugins.xml new file mode 100644 index 0000000..7a06967 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/plugins/nodelet_plugins.xml @@ -0,0 +1,8 @@ + + + + Nodelet version of the Kobuki node + + + + diff --git a/autonomous_robotics_ros/src/kobuki_node/scripts/getOdom2D.py b/autonomous_robotics_ros/src/kobuki_node/scripts/getOdom2D.py new file mode 100755 index 0000000..1a5a45a --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/scripts/getOdom2D.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python +#AUTHOR: Younghun Ju , + +import roslib; roslib.load_manifest('kobuki_node') +import rospy + +from tf.transformations import euler_from_quaternion +from math import degrees + +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Quaternion +from geometry_msgs.msg import Pose2D + +class Converter(object): + def __init__(self): + rospy.init_node("getOdom2D", anonymous=True) + self.sub = rospy.Subscriber("odom", Odometry, self.OdomCallback) + self.pub = rospy.Publisher("pose2d", Pose2D, queue_size=10) + + def OdomCallback(self,data): + px = data.pose.pose.position.x + py = data.pose.pose.position.y + quat = data.pose.pose.orientation + q = [quat.x, quat.y, quat.z, quat.w] + roll, pitch, yaw = euler_from_quaternion(q) + + vx = data.twist.twist.linear.x + vy = data.twist.twist.linear.y + yaw_rate = data.twist.twist.angular.z + print "pose: x: {0:+2.5f}".format(px) + ", y: {0:+2.5f}".format(py)\ + + ", th: {0:+.4f}".format(yaw) + " rad; "\ + + "{0:+.2f}".format(degrees(yaw)) + " deg" + print "rate: x: {0:+2.5f}".format(vx) + ", y: {0:+2.5f}".format(vy)\ + + ", th: {0:+.2f}".format(yaw_rate) + " rad/s; "\ + + "{0:+.2f}".format(degrees(yaw_rate)) + " deg/s" + print '---' + pose2d = Pose2D() + pose2d.x = px + pose2d.y = py + pose2d.theta = yaw + self.pub.publish(pose2d) + +if __name__ == '__main__': + try: + instance = Converter() + print + print "It prints x, y, theta values from Odom message of mobile base." + print + rospy.spin() + except rospy.ROSInterruptException: pass diff --git a/autonomous_robotics_ros/src/kobuki_node/scripts/getYaw.py b/autonomous_robotics_ros/src/kobuki_node/scripts/getYaw.py new file mode 100755 index 0000000..cdc4bea --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/scripts/getYaw.py @@ -0,0 +1,45 @@ +#!/usr/bin/env python +#AUTHOR: Younghun Ju , + +import roslib; roslib.load_manifest('kobuki_node') +import rospy + +from tf.transformations import euler_from_quaternion +from math import degrees + +from sensor_msgs.msg import Imu +from geometry_msgs.msg import Quaternion +from std_msgs.msg import Float64 + +class Converter(object): + + def __init__(self): + rospy.init_node("getYaw", anonymous=True) + self.sub_imu = rospy.Subscriber("imu", Imu, self.ImuCallback) + self.pub_angle = rospy.Publisher("angle", Float64, queue_size=10) + self.pub_angle_rate = rospy.Publisher("angle_rate", Float64, queue_size=10) + + def ImuCallback(self,data): + quat = data.orientation + q = [quat.x, quat.y, quat.z, quat.w] + roll, pitch, yaw = euler_from_quaternion(q) + print "angle: " + "{0:+.4f}".format(yaw) + " rad; "\ + + "{0:+.2f}".format(degrees(yaw)) + " deg" + print "rate: " + "{0:+.2f}".format(data.angular_velocity.z) + " rad/s; "\ + + "{0:+.2f}".format(degrees(data.angular_velocity.z)) + " deg/s" + print '---' + angle = Float64() + angle_rate = Float64() + angle.data = yaw + angle_rate.data = data.angular_velocity.z + self.pub_angle.publish(angle) + self.pub_angle_rate.publish(angle_rate) + +if __name__ == '__main__': + try: + instance = Converter() + print + print "It prints angle and angular_velocity from Imu message of single yaw gyro." + print + rospy.spin() + except rospy.ROSInterruptException: pass diff --git a/autonomous_robotics_ros/src/kobuki_node/src/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_node/src/CMakeLists.txt new file mode 100644 index 0000000..a4a4a4d --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/CMakeLists.txt @@ -0,0 +1,6 @@ +############################################################################### +# Subdirectories +############################################################################### + +add_subdirectory(library) +add_subdirectory(nodelet) diff --git a/autonomous_robotics_ros/src/kobuki_node/src/library/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_node/src/library/CMakeLists.txt new file mode 100644 index 0000000..c4a987d --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/library/CMakeLists.txt @@ -0,0 +1,17 @@ +############################################################################## +# SOURCES +############################################################################## + +file(GLOB SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} *.cpp) + +############################################################################## +# LIBRARY +############################################################################## + +add_library(kobuki_ros ${SOURCES}) +add_dependencies(kobuki_ros ${catkin_EXPORTED_TARGETS}) +target_link_libraries(kobuki_ros ${catkin_LIBRARIES}) + +install(TARGETS kobuki_ros + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_node/src/library/diagnostics.cpp b/autonomous_robotics_ros/src/kobuki_node/src/library/diagnostics.cpp new file mode 100644 index 0000000..be221ff --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/library/diagnostics.cpp @@ -0,0 +1,164 @@ +/** + * @file /src/library/diagnostics.cpp + * + * @brief Robot diagnostics implementation. + * + * License: BSD + * https://raw.github.com/yujinrobot/kobuki/hydro-devel/kobuki_node/LICENSE + **/ +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include "../../include/kobuki_node/diagnostics.hpp" + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace kobuki { + +/***************************************************************************** +** Implementation +*****************************************************************************/ + +void BatteryTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + switch ( status.level() ) { + case ( Battery::Maximum ) : { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "Maximum"); + break; + } + case ( Battery::Healthy ) : { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "Healthy"); + break; + } + case ( Battery::Low ) : { + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Low"); + break; + } + case ( Battery::Dangerous ) : { + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Dangerous"); + break; + } + } + + stat.add("Voltage (V)", status.voltage); + stat.add("Percent", status.percent()); + stat.add("Charge (Ah)", (2.2*status.percent())/100.0); + stat.add("Capacity (Ah)", 2.2); // TODO: how can we tell which battery is in use? + + switch (status.charging_source ) { + case(Battery::None) : { + stat.add("Source", "None"); + break; + } + case(Battery::Adapter) : { + stat.add("Source", "Adapter"); + break; + } + case(Battery::Dock) : { + stat.add("Source", "Dock"); + break; + } + } + switch ( status.charging_state ) { + case ( Battery::Charged ) : { + stat.add("Charging State", "Trickle Charging"); // i.e. fully charged + stat.add("Current (A)", 3.14); // TODO: what's the real value for our charger? + break; + } + case ( Battery::Charging ) : { + stat.add("Charging State", "Full Charging"); + stat.add("Current (A)", 3.14); // TODO: what's the real value for our charger? + break; + } + case ( Battery::Discharging ) : { + stat.add("Charging State", "Not Charging"); + stat.add("Current (A)", 0.0); + break; + } + default: break; + } +} + +void WatchdogTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + if ( alive ) { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "Alive"); + } else { + stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No Signal"); + } +} + +void CliffSensorTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + if ( status ) { + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Cliff Detected!"); + } else { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "All right"); + } + + stat.addf("Left", "Reading: %d Cliff: %s", values.bottom[0], status & CoreSensors::Flags::LeftCliff?"YES":"NO"); + stat.addf("Center", "Reading: %d Cliff: %s", values.bottom[1], status & CoreSensors::Flags::CenterCliff?"YES":"NO"); + stat.addf("Right", "Reading: %d Cliff: %s", values.bottom[2], status & CoreSensors::Flags::RightCliff?"YES":"NO"); +} + +void WallSensorTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + if ( status ) { + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Wall Hit!"); + } else { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "All right"); + } + + stat.addf("Left", status & CoreSensors::Flags::LeftBumper?"YES":"NO"); + stat.addf("Center", status & CoreSensors::Flags::CenterBumper?"YES":"NO"); + stat.addf("Right", status & CoreSensors::Flags::RightBumper?"YES":"NO"); +} + +void WheelDropTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + if ( status ) { + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Wheel Drop!"); + } else { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "All right"); + } + + stat.addf("Left", status & CoreSensors::Flags::LeftWheel?"YES":"NO"); + stat.addf("Right", status & CoreSensors::Flags::RightWheel?"YES":"NO"); +} + +void MotorCurrentTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + if ( std::max(values[0], values[1]) > 6 ) { // TODO not sure about this threshold; should be a parameter? + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Is robot stalled? Motors current is very high"); + } else { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "All right"); + } + + stat.addf("Left", "%d", values[0]); + stat.addf("Right", "%d", values[1]); +} + +void MotorStateTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + if ( state == true ) { + stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "Motors Enabled"); + } else { + stat.summary(diagnostic_msgs::DiagnosticStatus::WARN, "Motors Disabled"); + } + + stat.addf("State", "%d", int(state)); +} + +void GyroSensorTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + // Raw data angles are in hundredths of degree + stat.summaryf(diagnostic_msgs::DiagnosticStatus::OK, "Heading: %.2f degrees", heading/100.0); +} + +void DigitalInputTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + stat.summaryf(diagnostic_msgs::DiagnosticStatus::OK, "[%d, %d, %d, %d]", + status & 0x08?1:0, status & 0x04?1:0, + status & 0x02?1:0, status & 0x01?1:0); +} + +void AnalogInputTask::run(diagnostic_updater::DiagnosticStatusWrapper &stat) { + stat.summaryf(diagnostic_msgs::DiagnosticStatus::OK, "[%d, %d, %d, %d]", + values[0], values[1], values[2], values[3]); +} + +} // namespace kobuki diff --git a/autonomous_robotics_ros/src/kobuki_node/src/library/kobuki_ros.cpp b/autonomous_robotics_ros/src/kobuki_node/src/library/kobuki_ros.cpp new file mode 100644 index 0000000..eb4bd62 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/library/kobuki_ros.cpp @@ -0,0 +1,350 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file /kobuki_node/src/node/kobuki_node.cpp + * + * @brief Implementation for the ros kobuki node wrapper. + **/ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include +#include +#include +#include "kobuki_node/kobuki_ros.hpp" + +/***************************************************************************** + ** Namespaces + *****************************************************************************/ + +namespace kobuki +{ + +/***************************************************************************** + ** Implementation [KobukiRos] + *****************************************************************************/ + +/** + * @brief Default constructor. + * + * Make sure you call the init() method to fully define this node. + */ +KobukiRos::KobukiRos(std::string& node_name) : + name(node_name), cmd_vel_timed_out_(false), serial_timed_out_(false), + slot_version_info(&KobukiRos::publishVersionInfo, *this), + slot_controller_info(&KobukiRos::publishControllerInfo, *this), + slot_stream_data(&KobukiRos::processStreamData, *this), + slot_button_event(&KobukiRos::publishButtonEvent, *this), + slot_bumper_event(&KobukiRos::publishBumperEvent, *this), + slot_cliff_event(&KobukiRos::publishCliffEvent, *this), + slot_wheel_event(&KobukiRos::publishWheelEvent, *this), + slot_power_event(&KobukiRos::publishPowerEvent, *this), + slot_input_event(&KobukiRos::publishInputEvent, *this), + slot_robot_event(&KobukiRos::publishRobotEvent, *this), + slot_debug(&KobukiRos::rosDebug, *this), + slot_info(&KobukiRos::rosInfo, *this), + slot_warn(&KobukiRos::rosWarn, *this), + slot_error(&KobukiRos::rosError, *this), + slot_named(&KobukiRos::rosNamed, *this), + slot_raw_data_command(&KobukiRos::publishRawDataCommand, *this), + slot_raw_data_stream(&KobukiRos::publishRawDataStream, *this), + slot_raw_control_command(&KobukiRos::publishRawControlCommand, *this) +{ + updater.setHardwareID("Kobuki"); + updater.add(battery_diagnostics); + updater.add(watchdog_diagnostics); + updater.add(bumper_diagnostics); + updater.add(cliff_diagnostics); + updater.add(wheel_diagnostics); + updater.add(motor_diagnostics); + updater.add(state_diagnostics); + updater.add(gyro_diagnostics); + updater.add(dinput_diagnostics); + updater.add(ainput_diagnostics); +} + +/** + * This will wait some time while kobuki internally closes its threads and destructs + * itself. + */ +KobukiRos::~KobukiRos() +{ + ROS_INFO_STREAM("Kobuki : waiting for kobuki thread to finish [" << name << "]."); +} + +bool KobukiRos::init(ros::NodeHandle& nh, ros::NodeHandle& nh_pub) +{ + /********************* + ** Communications + **********************/ + advertiseTopics(nh); + subscribeTopics(nh); + + /********************* + ** Slots + **********************/ + slot_stream_data.connect(name + std::string("/stream_data")); + slot_version_info.connect(name + std::string("/version_info")); + slot_controller_info.connect(name + std::string("/controller_info")); + slot_button_event.connect(name + std::string("/button_event")); + slot_bumper_event.connect(name + std::string("/bumper_event")); + slot_cliff_event.connect(name + std::string("/cliff_event")); + slot_wheel_event.connect(name + std::string("/wheel_event")); + slot_power_event.connect(name + std::string("/power_event")); + slot_input_event.connect(name + std::string("/input_event")); + slot_robot_event.connect(name + std::string("/robot_event")); + slot_debug.connect(name + std::string("/ros_debug")); + slot_info.connect(name + std::string("/ros_info")); + slot_warn.connect(name + std::string("/ros_warn")); + slot_error.connect(name + std::string("/ros_error")); + slot_named.connect(name + std::string("/ros_named")); + slot_raw_data_command.connect(name + std::string("/raw_data_command")); + slot_raw_data_stream.connect(name + std::string("/raw_data_stream")); + slot_raw_control_command.connect(name + std::string("/raw_control_command")); + + /********************* + ** Driver Parameters + **********************/ + Parameters parameters; + + nh.param("acceleration_limiter", parameters.enable_acceleration_limiter, false); + nh.param("battery_capacity", parameters.battery_capacity, Battery::capacity); + nh.param("battery_low", parameters.battery_low, Battery::low); + nh.param("battery_dangerous", parameters.battery_dangerous, Battery::dangerous); + + parameters.sigslots_namespace = name; // name is automatically picked up by device_nodelet parent. + if (!nh.getParam("device_port", parameters.device_port)) + { + ROS_ERROR_STREAM("Kobuki : no device port given on the parameter server (e.g. /dev/ttyUSB0)[" << name << "]."); + return false; + } + + /********************* + ** Joint States + **********************/ + std::string robot_description, wheel_left_joint_name, wheel_right_joint_name; + + nh.param("wheel_left_joint_name", wheel_left_joint_name, std::string("wheel_left_joint")); + nh.param("wheel_right_joint_name", wheel_right_joint_name, std::string("wheel_right_joint")); + + // minimalistic check: are joint names present on robot description file? + if (!nh_pub.getParam("robot_description", robot_description)) + { + ROS_WARN("Kobuki : no robot description given on the parameter server"); + } + else + { + if (robot_description.find(wheel_left_joint_name) == std::string::npos) { + ROS_WARN("Kobuki : joint name %s not found on robot description", wheel_left_joint_name.c_str()); + } + + if (robot_description.find(wheel_right_joint_name) == std::string::npos) { + ROS_WARN("Kobuki : joint name %s not found on robot description", wheel_right_joint_name.c_str()); + } + } + joint_states.name.push_back(wheel_left_joint_name); + joint_states.name.push_back(wheel_right_joint_name); + joint_states.position.resize(2,0.0); + joint_states.velocity.resize(2,0.0); + joint_states.effort.resize(2,0.0); + + /********************* + ** Validation + **********************/ + if (!parameters.validate()) + { + ROS_ERROR_STREAM("Kobuki : parameter configuration failed [" << name << "]."); + ROS_ERROR_STREAM("Kobuki : " << parameters.error_msg << "[" << name << "]"); + return false; + } + else + { + if (parameters.simulation) + { + ROS_INFO("Kobuki : driver going into loopback (simulation) mode."); + } + else + { + ROS_INFO_STREAM("Kobuki : configured for connection on device_port " + << parameters.device_port << " [" << name << "]."); + ROS_INFO_STREAM("Kobuki : driver running in normal (non-simulation) mode" << " [" << name << "]."); + } + } + + odometry.init(nh, name); + + /********************* + ** Driver Init + **********************/ + try + { + kobuki.init(parameters); + ros::Duration(0.25).sleep(); // wait for some data to come in. + if ( !kobuki.isAlive() ) { + ROS_WARN_STREAM("Kobuki : no data stream, is kobuki turned on?"); + // don't need to return false here - simply turning kobuki on while spin()'ing should resurrect the situation. + } + kobuki.enable(); + } + catch (const ecl::StandardException &e) + { + switch (e.flag()) + { + case (ecl::OpenError): + { + ROS_ERROR_STREAM("Kobuki : could not open connection [" << parameters.device_port << "][" << name << "]."); + break; + } + default: + { + ROS_ERROR_STREAM("Kobuki : initialisation failed [" << name << "]."); + ROS_DEBUG_STREAM(e.what()); + break; + } + } + return false; + } + // kobuki.printSigSlotConnections(); + return true; +} +/** + * This is a worker function that runs in a background thread initiated by + * the nodelet. It gathers diagnostics information from the kobuki driver, + * and broadcasts the results to the rest of the ros ecosystem. + * + * Note that the actual driver data is collected via the slot callbacks in this class. + * + * @return Bool : true/false if successfully updated or not (kobuki driver shutdown). + */ +bool KobukiRos::update() +{ + if ( kobuki.isShutdown() ) + { + ROS_ERROR_STREAM("Kobuki : Driver has been shutdown. Stopping update loop. [" << name << "]."); + return false; + } + + if ( (kobuki.isEnabled() == true) && odometry.commandTimeout()) + { + if ( !cmd_vel_timed_out_ ) + { + kobuki.setBaseControl(0, 0); + cmd_vel_timed_out_ = true; + ROS_WARN("Kobuki : Incoming velocity commands not received for more than %.2f seconds -> zero'ing velocity commands", odometry.timeout().toSec()); + } + } + else + { + cmd_vel_timed_out_ = false; + } + + bool is_alive = kobuki.isAlive(); + if ( watchdog_diagnostics.isAlive() && !is_alive ) + { + if ( !serial_timed_out_ ) + { + ROS_ERROR_STREAM("Kobuki : Timed out while waiting for serial data stream [" << name << "]."); + serial_timed_out_ = true; + } + else + { + serial_timed_out_ = false; + } + } + + watchdog_diagnostics.update(is_alive); + battery_diagnostics.update(kobuki.batteryStatus()); + cliff_diagnostics.update(kobuki.getCoreSensorData().cliff, kobuki.getCliffData()); + bumper_diagnostics.update(kobuki.getCoreSensorData().bumper); + wheel_diagnostics.update(kobuki.getCoreSensorData().wheel_drop); + motor_diagnostics.update(kobuki.getCurrentData().current); + state_diagnostics.update(kobuki.isEnabled()); + gyro_diagnostics.update(kobuki.getInertiaData().angle); + dinput_diagnostics.update(kobuki.getGpInputData().digital_input); + ainput_diagnostics.update(kobuki.getGpInputData().analog_input); + updater.update(); + + return true; +} + +/** + * Two groups of publishers, one required by turtlebot, the other for + * kobuki esoterics. + */ +void KobukiRos::advertiseTopics(ros::NodeHandle& nh) +{ + /********************* + ** Turtlebot Required + **********************/ + joint_state_publisher = nh.advertise ("joint_states",100); + + /********************* + ** Kobuki Esoterics + **********************/ + version_info_publisher = nh.advertise < kobuki_msgs::VersionInfo > ("version_info", 100, true); // latched publisher + controller_info_publisher = nh.advertise < kobuki_msgs::ControllerInfo > ("controller_info", 100, true); // latched publisher + button_event_publisher = nh.advertise < kobuki_msgs::ButtonEvent > ("events/button", 100); + bumper_event_publisher = nh.advertise < kobuki_msgs::BumperEvent > ("events/bumper", 100); + cliff_event_publisher = nh.advertise < kobuki_msgs::CliffEvent > ("events/cliff", 100); + wheel_event_publisher = nh.advertise < kobuki_msgs::WheelDropEvent > ("events/wheel_drop", 100); + power_event_publisher = nh.advertise < kobuki_msgs::PowerSystemEvent > ("events/power_system", 100); + input_event_publisher = nh.advertise < kobuki_msgs::DigitalInputEvent > ("events/digital_input", 100); + robot_event_publisher = nh.advertise < kobuki_msgs::RobotStateEvent > ("events/robot_state", 100, true); // also latched + sensor_state_publisher = nh.advertise < kobuki_msgs::SensorState > ("sensors/core", 100); + dock_ir_publisher = nh.advertise < kobuki_msgs::DockInfraRed > ("sensors/dock_ir", 100); + imu_data_publisher = nh.advertise < sensor_msgs::Imu > ("sensors/imu_data", 100); + raw_imu_data_publisher = nh.advertise < sensor_msgs::Imu > ("sensors/imu_data_raw", 100); + raw_data_command_publisher = nh.advertise< std_msgs::String > ("debug/raw_data_command", 100); + raw_data_stream_publisher = nh.advertise< std_msgs::String > ("debug/raw_data_stream", 100); + raw_control_command_publisher = nh.advertise< std_msgs::Int16MultiArray > ("debug/raw_control_command", 100); +} + +/** + * Two groups of subscribers, one required by turtlebot, the other for + * kobuki esoterics. + */ +void KobukiRos::subscribeTopics(ros::NodeHandle& nh) +{ + velocity_command_subscriber = nh.subscribe(std::string("commands/velocity"), 10, &KobukiRos::subscribeVelocityCommand, this); + led1_command_subscriber = nh.subscribe(std::string("commands/led1"), 10, &KobukiRos::subscribeLed1Command, this); + led2_command_subscriber = nh.subscribe(std::string("commands/led2"), 10, &KobukiRos::subscribeLed2Command, this); + digital_output_command_subscriber = nh.subscribe(std::string("commands/digital_output"), 10, &KobukiRos::subscribeDigitalOutputCommand, this); + external_power_command_subscriber = nh.subscribe(std::string("commands/external_power"), 10, &KobukiRos::subscribeExternalPowerCommand, this); + sound_command_subscriber = nh.subscribe(std::string("commands/sound"), 10, &KobukiRos::subscribeSoundCommand, this); + reset_odometry_subscriber = nh.subscribe("commands/reset_odometry", 10, &KobukiRos::subscribeResetOdometry, this); + motor_power_subscriber = nh.subscribe("commands/motor_power", 10, &KobukiRos::subscribeMotorPower, this); + controller_info_command_subscriber = nh.subscribe(std::string("commands/controller_info"), 10, &KobukiRos::subscribeControllerInfoCommand, this); +} + + +} // namespace kobuki + diff --git a/autonomous_robotics_ros/src/kobuki_node/src/library/odometry.cpp b/autonomous_robotics_ros/src/kobuki_node/src/library/odometry.cpp new file mode 100644 index 0000000..9add4d8 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/library/odometry.cpp @@ -0,0 +1,159 @@ +/** + * @file /kobuki_node/src/node/odometry.cpp + * + * @brief File comment + * + * File comment + * + **/ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include "../../include/kobuki_node/odometry.hpp" + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace kobuki { + +/***************************************************************************** +** Implementation +*****************************************************************************/ + +Odometry::Odometry () : + odom_frame("odom"), + base_frame("base_footprint"), + use_imu_heading(true), + publish_tf(true) +{}; + +void Odometry::init(ros::NodeHandle& nh, const std::string& name) { + double timeout; + nh.param("cmd_vel_timeout", timeout, 0.6); + cmd_vel_timeout.fromSec(timeout); + ROS_INFO_STREAM("Kobuki : Velocity commands timeout: " << cmd_vel_timeout << " seconds [" << name << "]."); + + if (!nh.getParam("odom_frame", odom_frame)) { + ROS_WARN_STREAM("Kobuki : no param server setting for odom_frame, using default [" << odom_frame << "][" << name << "]."); + } else { + ROS_INFO_STREAM("Kobuki : using odom_frame [" << odom_frame << "][" << name << "]."); + } + + if (!nh.getParam("base_frame", base_frame)) { + ROS_WARN_STREAM("Kobuki : no param server setting for base_frame, using default [" << base_frame << "][" << name << "]."); + } else { + ROS_INFO_STREAM("Kobuki : using base_frame [" << base_frame << "][" << name << "]."); + } + + if (!nh.getParam("publish_tf", publish_tf)) { + ROS_WARN_STREAM("Kobuki : no param server setting for publish_tf, using default [" << publish_tf << "][" << name << "]."); + } else { + if ( publish_tf ) { + ROS_INFO_STREAM("Kobuki : publishing transforms [" << name << "]."); + } else { + ROS_INFO_STREAM("Kobuki : not publishing transforms (see robot_pose_ekf) [" << name << "]."); + } + } + + if (!nh.getParam("use_imu_heading", use_imu_heading)) { + ROS_WARN_STREAM("Kobuki : no param server setting for use_imu_heading, using default [" << use_imu_heading << "][" << name << "]."); + } else { + if ( use_imu_heading ) { + ROS_INFO_STREAM("Kobuki : using imu data for heading [" << name << "]."); + } else { + ROS_INFO_STREAM("Kobuki : using encoders for heading (see robot_pose_ekf) [" << name << "]."); + } + } + + odom_trans.header.frame_id = odom_frame; + odom_trans.child_frame_id = base_frame; + + pose.setIdentity(); + + odom_publisher = nh.advertise("odom", 50); // topic name and queue size +} + +bool Odometry::commandTimeout() const { + if ( (!last_cmd_time.isZero()) && ((ros::Time::now() - last_cmd_time) > cmd_vel_timeout) ) { + return true; + } else { + return false; + } +} + +void Odometry::update(const ecl::LegacyPose2D &pose_update, ecl::linear_algebra::Vector3d &pose_update_rates, + double imu_heading, double imu_angular_velocity) { + pose *= pose_update; + + if (use_imu_heading == true) { + // Overwite with gyro heading data + pose.heading(imu_heading); + pose_update_rates[2] = imu_angular_velocity; + } + + //since all ros tf odometry is 6DOF we'll need a quaternion created from yaw + geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(pose.heading()); + + if ( ros::ok() ) { + publishTransform(odom_quat); + publishOdometry(odom_quat, pose_update_rates); + } +} + +/***************************************************************************** +** Private Implementation +*****************************************************************************/ + +void Odometry::publishTransform(const geometry_msgs::Quaternion &odom_quat) +{ + if (publish_tf == false) + return; + + odom_trans.header.stamp = ros::Time::now(); + odom_trans.transform.translation.x = pose.x(); + odom_trans.transform.translation.y = pose.y(); + odom_trans.transform.translation.z = 0.0; + odom_trans.transform.rotation = odom_quat; + odom_broadcaster.sendTransform(odom_trans); +} + +void Odometry::publishOdometry(const geometry_msgs::Quaternion &odom_quat, + const ecl::linear_algebra::Vector3d &pose_update_rates) +{ + // Publish as shared pointer to leverage the nodelets' zero-copy pub/sub feature + nav_msgs::OdometryPtr odom(new nav_msgs::Odometry); + + // Header + odom->header.stamp = ros::Time::now(); + odom->header.frame_id = odom_frame; + odom->child_frame_id = base_frame; + + // Position + odom->pose.pose.position.x = pose.x(); + odom->pose.pose.position.y = pose.y(); + odom->pose.pose.position.z = 0.0; + odom->pose.pose.orientation = odom_quat; + + // Velocity + odom->twist.twist.linear.x = pose_update_rates[0]; + odom->twist.twist.linear.y = pose_update_rates[1]; + odom->twist.twist.angular.z = pose_update_rates[2]; + + // Pose covariance (required by robot_pose_ekf) TODO: publish realistic values + // Odometry yaw covariance must be much bigger than the covariance provided + // by the imu, as the later takes much better measures + odom->pose.covariance[0] = 0.1; + odom->pose.covariance[7] = 0.1; + odom->pose.covariance[35] = use_imu_heading ? 0.05 : 0.2; + + odom->pose.covariance[14] = 1e10; // set a non-zero covariance on unused + odom->pose.covariance[21] = 1e10; // dimensions (z, pitch and roll); this + odom->pose.covariance[28] = 1e10; // is a requirement of robot_pose_ekf + + odom_publisher.publish(odom); +} + +} // namespace kobuki diff --git a/autonomous_robotics_ros/src/kobuki_node/src/library/slot_callbacks.cpp b/autonomous_robotics_ros/src/kobuki_node/src/library/slot_callbacks.cpp new file mode 100644 index 0000000..2c41c26 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/library/slot_callbacks.cpp @@ -0,0 +1,485 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file src/node/slot_callbacks.cpp + * + * @brief All the slot callbacks for interrupts from the kobuki driver. + * + **/ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include "kobuki_node/kobuki_ros.hpp" + +/***************************************************************************** + ** Namespaces + *****************************************************************************/ + +namespace kobuki +{ + +void KobukiRos::processStreamData() { + publishWheelState(); + publishSensorState(); + publishDockIRData(); + publishInertia(); + publishRawInertia(); +} + +/***************************************************************************** +** Publish Sensor Stream Workers +*****************************************************************************/ + +void KobukiRos::publishSensorState() +{ + if ( ros::ok() ) { + if (sensor_state_publisher.getNumSubscribers() > 0) { + kobuki_msgs::SensorState state; + CoreSensors::Data data = kobuki.getCoreSensorData(); + state.header.stamp = ros::Time::now(); + state.time_stamp = data.time_stamp; // firmware time stamp + state.bumper = data.bumper; + state.wheel_drop = data.wheel_drop; + state.cliff = data.cliff; + state.left_encoder = data.left_encoder; + state.right_encoder = data.right_encoder; + state.left_pwm = data.left_pwm; + state.right_pwm = data.right_pwm; + state.buttons = data.buttons; + state.charger = data.charger; + state.battery = data.battery; + state.over_current = data.over_current; + + Cliff::Data cliff_data = kobuki.getCliffData(); + state.bottom = cliff_data.bottom; + + Current::Data current_data = kobuki.getCurrentData(); + state.current = current_data.current; + + GpInput::Data gp_input_data = kobuki.getGpInputData(); + state.digital_input = gp_input_data.digital_input; + for ( unsigned int i = 0; i < gp_input_data.analog_input.size(); ++i ) { + state.analog_input.push_back(gp_input_data.analog_input[i]); + } + + sensor_state_publisher.publish(state); + } + } +} + +void KobukiRos::publishWheelState() +{ + // Take latest encoders and gyro data + ecl::LegacyPose2D pose_update; + ecl::linear_algebra::Vector3d pose_update_rates; + kobuki.updateOdometry(pose_update, pose_update_rates); + kobuki.getWheelJointStates(joint_states.position[0], joint_states.velocity[0], // left wheel + joint_states.position[1], joint_states.velocity[1]); // right wheel + + // Update and publish odometry and joint states + odometry.update(pose_update, pose_update_rates, kobuki.getHeading(), kobuki.getAngularVelocity()); + + if (ros::ok()) + { + joint_states.header.stamp = ros::Time::now(); + joint_state_publisher.publish(joint_states); + } +} + +void KobukiRos::publishInertia() +{ + if (ros::ok()) + { + if (imu_data_publisher.getNumSubscribers() > 0) + { + // Publish as shared pointer to leverage the nodelets' zero-copy pub/sub feature + sensor_msgs::ImuPtr msg(new sensor_msgs::Imu); + + msg->header.frame_id = "gyro_link"; + msg->header.stamp = ros::Time::now(); + + msg->orientation = tf::createQuaternionMsgFromRollPitchYaw(0.0, 0.0, kobuki.getHeading()); + + // set a non-zero covariance on unused dimensions (pitch and roll); this is a requirement of robot_pose_ekf + // set yaw covariance as very low, to make it dominate over the odometry heading when combined + // 1: fill once, as its always the same; 2: using an invented value; cannot we get a realistic estimation? + msg->orientation_covariance[0] = DBL_MAX; + msg->orientation_covariance[4] = DBL_MAX; + msg->orientation_covariance[8] = 0.05; + + // fill angular velocity; we ignore acceleration for now + msg->angular_velocity.z = kobuki.getAngularVelocity(); + + // angular velocity covariance; useless by now, but robot_pose_ekf's + // roadmap claims that it will compute velocities in the future + msg->angular_velocity_covariance[0] = DBL_MAX; + msg->angular_velocity_covariance[4] = DBL_MAX; + msg->angular_velocity_covariance[8] = 0.05; + + imu_data_publisher.publish(msg); + } + } +} + +void KobukiRos::publishRawInertia() +{ + if ( ros::ok() && (raw_imu_data_publisher.getNumSubscribers() > 0) ) + { + // Publish as shared pointer to leverage the nodelets' zero-copy pub/sub feature + sensor_msgs::ImuPtr msg(new sensor_msgs::Imu); + ThreeAxisGyro::Data data = kobuki.getRawInertiaData(); + + ros::Time now = ros::Time::now(); + ros::Duration interval(0.01); // Time interval between each sensor reading. + const double digit_to_dps = 0.00875; // digit to deg/s ratio, comes from datasheet of 3d gyro[L3G4200D]. + unsigned int length = data.followed_data_length/3; + for( unsigned int i=0; iheader.frame_id = std::string("gyro_link_" + boost::lexical_cast((unsigned int)data.frame_id+i)); + msg->header.frame_id = "gyro_link"; + + // Update rate of 3d gyro sensor is 100 Hz, but robot's update rate is 50 Hz. + // So, here is some compensation. + // See also https://github.com/yujinrobot/kobuki/issues/216 + msg->header.stamp = now - interval * (length-i-1); + + // Sensing axis of 3d gyro is not match with robot. It is rotated 90 degree counterclockwise about z-axis. + msg->angular_velocity.x = angles::from_degrees( -digit_to_dps * (short)data.data[i*3+1] ); + msg->angular_velocity.y = angles::from_degrees( digit_to_dps * (short)data.data[i*3+0] ); + msg->angular_velocity.z = angles::from_degrees( digit_to_dps * (short)data.data[i*3+2] ); + + raw_imu_data_publisher.publish(msg); + } + } +} + +void KobukiRos::publishDockIRData() +{ + if (ros::ok()) + { + if (dock_ir_publisher.getNumSubscribers() > 0) + { + DockIR::Data data = kobuki.getDockIRData(); + + // Publish as shared pointer to leverage the nodelets' zero-copy pub/sub feature + kobuki_msgs::DockInfraRedPtr msg(new kobuki_msgs::DockInfraRed); + + msg->header.frame_id = "dock_ir_link"; + msg->header.stamp = ros::Time::now(); + + msg->data.push_back( data.docking[0] ); + msg->data.push_back( data.docking[1] ); + msg->data.push_back( data.docking[2] ); + + dock_ir_publisher.publish(msg); + } + } +} + +/***************************************************************************** +** Non Default Stream Packets +*****************************************************************************/ +/** + * @brief Publish fw, hw, sw version information. + * + * The driver will only gather this data when initialising so it is + * important that this publisher is latched. + */ +void KobukiRos::publishVersionInfo(const VersionInfo &version_info) +{ + if (ros::ok()) + { + kobuki_msgs::VersionInfoPtr msg(new kobuki_msgs::VersionInfo); + + msg->firmware = VersionInfo::toString(version_info.firmware); + msg->hardware = VersionInfo::toString(version_info.hardware); + msg->software = VersionInfo::getSoftwareVersion(); + + msg->udid.resize(3); + msg->udid[0] = version_info.udid0; + msg->udid[1] = version_info.udid1; + msg->udid[2] = version_info.udid2; + + // Set available features mask depending on firmware and driver versions + if (version_info.firmware > 65536) // 1.0.0 + { + msg->features |= kobuki_msgs::VersionInfo::SMOOTH_MOVE_START; + msg->features |= kobuki_msgs::VersionInfo::GYROSCOPE_3D_DATA; + } + if (version_info.firmware > 65792) // 1.1.0 + { + // msg->features |= kobuki_msgs::VersionInfo::SOMETHING_JINCHA_FANCY; + } + // if (msg->firmware > ... + + version_info_publisher.publish(msg); + } +} + +void KobukiRos::publishControllerInfo() +{ + if (ros::ok()) + { + kobuki_msgs::ControllerInfoPtr msg(new kobuki_msgs::ControllerInfo); + ControllerInfo::Data data = kobuki.getControllerInfoData(); + + msg->type = data.type; + msg->p_gain = static_cast(data.p_gain) * 0.001f;; + msg->i_gain = static_cast(data.i_gain) * 0.001f;; + msg->d_gain = static_cast(data.d_gain) * 0.001f;; + + controller_info_publisher.publish(msg); + } +} + +/***************************************************************************** +** Events +*****************************************************************************/ + +void KobukiRos::publishButtonEvent(const ButtonEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::ButtonEventPtr msg(new kobuki_msgs::ButtonEvent); + switch(event.state) { + case(ButtonEvent::Pressed) : { msg->state = kobuki_msgs::ButtonEvent::PRESSED; break; } + case(ButtonEvent::Released) : { msg->state = kobuki_msgs::ButtonEvent::RELEASED; break; } + default: break; + } + switch(event.button) { + case(ButtonEvent::Button0) : { msg->button = kobuki_msgs::ButtonEvent::Button0; break; } + case(ButtonEvent::Button1) : { msg->button = kobuki_msgs::ButtonEvent::Button1; break; } + case(ButtonEvent::Button2) : { msg->button = kobuki_msgs::ButtonEvent::Button2; break; } + default: break; + } + button_event_publisher.publish(msg); + } +} + +void KobukiRos::publishBumperEvent(const BumperEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::BumperEventPtr msg(new kobuki_msgs::BumperEvent); + switch(event.state) { + case(BumperEvent::Pressed) : { msg->state = kobuki_msgs::BumperEvent::PRESSED; break; } + case(BumperEvent::Released) : { msg->state = kobuki_msgs::BumperEvent::RELEASED; break; } + default: break; + } + switch(event.bumper) { + case(BumperEvent::Left) : { msg->bumper = kobuki_msgs::BumperEvent::LEFT; break; } + case(BumperEvent::Center) : { msg->bumper = kobuki_msgs::BumperEvent::CENTER; break; } + case(BumperEvent::Right) : { msg->bumper = kobuki_msgs::BumperEvent::RIGHT; break; } + default: break; + } + bumper_event_publisher.publish(msg); + } +} + +void KobukiRos::publishCliffEvent(const CliffEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::CliffEventPtr msg(new kobuki_msgs::CliffEvent); + switch(event.state) { + case(CliffEvent::Floor) : { msg->state = kobuki_msgs::CliffEvent::FLOOR; break; } + case(CliffEvent::Cliff) : { msg->state = kobuki_msgs::CliffEvent::CLIFF; break; } + default: break; + } + switch(event.sensor) { + case(CliffEvent::Left) : { msg->sensor = kobuki_msgs::CliffEvent::LEFT; break; } + case(CliffEvent::Center) : { msg->sensor = kobuki_msgs::CliffEvent::CENTER; break; } + case(CliffEvent::Right) : { msg->sensor = kobuki_msgs::CliffEvent::RIGHT; break; } + default: break; + } + msg->bottom = event.bottom; + cliff_event_publisher.publish(msg); + } +} + +void KobukiRos::publishWheelEvent(const WheelEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::WheelDropEventPtr msg(new kobuki_msgs::WheelDropEvent); + switch(event.state) { + case(WheelEvent::Dropped) : { msg->state = kobuki_msgs::WheelDropEvent::DROPPED; break; } + case(WheelEvent::Raised) : { msg->state = kobuki_msgs::WheelDropEvent::RAISED; break; } + default: break; + } + switch(event.wheel) { + case(WheelEvent::Left) : { msg->wheel = kobuki_msgs::WheelDropEvent::LEFT; break; } + case(WheelEvent::Right) : { msg->wheel = kobuki_msgs::WheelDropEvent::RIGHT; break; } + default: break; + } + wheel_event_publisher.publish(msg); + } +} + +void KobukiRos::publishPowerEvent(const PowerEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::PowerSystemEventPtr msg(new kobuki_msgs::PowerSystemEvent); + switch(event.event) { + case(PowerEvent::Unplugged) : + { msg->event = kobuki_msgs::PowerSystemEvent::UNPLUGGED; break; } + case(PowerEvent::PluggedToAdapter) : + { msg->event = kobuki_msgs::PowerSystemEvent::PLUGGED_TO_ADAPTER; break; } + case(PowerEvent::PluggedToDockbase) : + { msg->event = kobuki_msgs::PowerSystemEvent::PLUGGED_TO_DOCKBASE; break; } + case(PowerEvent::ChargeCompleted) : + { msg->event = kobuki_msgs::PowerSystemEvent::CHARGE_COMPLETED; break; } + case(PowerEvent::BatteryLow) : + { msg->event = kobuki_msgs::PowerSystemEvent::BATTERY_LOW; break; } + case(PowerEvent::BatteryCritical) : + { msg->event = kobuki_msgs::PowerSystemEvent::BATTERY_CRITICAL; break; } + default: break; + } + power_event_publisher.publish(msg); + } +} + +void KobukiRos::publishInputEvent(const InputEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::DigitalInputEventPtr msg(new kobuki_msgs::DigitalInputEvent); + for (unsigned int i = 0; i < msg->values.size(); i++) + msg->values[i] = event.values[i]; + input_event_publisher.publish(msg); + } +} + +void KobukiRos::publishRobotEvent(const RobotEvent &event) +{ + if (ros::ok()) + { + kobuki_msgs::RobotStateEventPtr msg(new kobuki_msgs::RobotStateEvent); + switch(event.state) { + case(RobotEvent::Online) : { msg->state = kobuki_msgs::RobotStateEvent::ONLINE; break; } + case(RobotEvent::Offline) : { msg->state = kobuki_msgs::RobotStateEvent::OFFLINE; break; } + default: break; + } + + robot_event_publisher.publish(msg); + } +} + +/** + * @brief Prints the raw data stream to a publisher. + * + * This is a lazy publisher, it only publishes if someone is listening. It publishes the + * hex byte values of the raw data commands. Useful for debugging command to protocol + * byte packets to the firmware. + * + * The signal which calls this + * function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used + * const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet. + * + * @param buffer + */ +void KobukiRos::publishRawDataCommand(Command::Buffer &buffer) +{ + if ( raw_data_command_publisher.getNumSubscribers() > 0 ) { // do not do string processing if there is no-one listening. + std::ostringstream ostream; + Command::Buffer::Formatter format; + ostream << format(buffer); // convert to an easily readable hex string. + std_msgs::String s; + s.data = ostream.str(); + if (ros::ok()) + { + raw_data_command_publisher.publish(s); + } + } +} +/** + * @brief Prints the raw data stream to a publisher. + * + * This is a lazy publisher, it only publishes if someone is listening. It publishes the + * hex byte values of the raw data (incoming) stream. Useful for checking when bytes get + * mangled. + * + * The signal which calls this + * function is sending a copy of the buffer (don't worry about mutexes). Be ideal if we used + * const PacketFinder::BufferType here, but haven't updated PushPop to work with consts yet. + * + * @param buffer + */ +void KobukiRos::publishRawDataStream(PacketFinder::BufferType &buffer) +{ + if ( raw_data_stream_publisher.getNumSubscribers() > 0 ) { // do not do string processing if there is no-one listening. + /*std::cout << "size: [" << buffer.size() << "], asize: [" << buffer.asize() << "]" << std::endl; + std::cout << "leader: " << buffer.leader << ", follower: " << buffer.follower << std::endl; + { + std::ostringstream ostream; + PacketFinder::BufferType::Formatter format; + ostream << format(buffer); // convert to an easily readable hex string. + //std::cout << ostream.str() << std::endl; + std_msgs::String s; + s.data = ostream.str(); + if (ros::ok()) + { + raw_data_stream_publisher.publish(s); + } + }*/ + { + std::ostringstream ostream; + ostream << "{ " ; + ostream << std::setfill('0') << std::uppercase; + for (unsigned int i=0; i < buffer.size(); i++) + ostream << std::hex << std::setw(2) << static_cast(buffer[i]) << " " << std::dec; + ostream << "}"; + //std::cout << ostream.str() << std::endl; + std_msgs::StringPtr msg(new std_msgs::String); + msg->data = ostream.str(); + if (ros::ok()) + { + raw_data_stream_publisher.publish(msg); + } + } + } +} + +void KobukiRos::publishRawControlCommand(const std::vector &velocity_commands) +{ + if ( raw_control_command_publisher.getNumSubscribers() > 0 ) { + std_msgs::Int16MultiArrayPtr msg(new std_msgs::Int16MultiArray); + msg->data = velocity_commands; + if (ros::ok()) + { + raw_control_command_publisher.publish(msg); + } + } + return; +} + +} // namespace kobuki diff --git a/autonomous_robotics_ros/src/kobuki_node/src/library/subscriber_callbacks.cpp b/autonomous_robotics_ros/src/kobuki_node/src/library/subscriber_callbacks.cpp new file mode 100644 index 0000000..4157e70 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/library/subscriber_callbacks.cpp @@ -0,0 +1,241 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file /kobuki_node/src/node/subscriber_callbacks.cpp + * + * @brief Subscriber callbacks for kobuki node. + * + **/ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include "../../include/kobuki_node/kobuki_ros.hpp" + +/***************************************************************************** + ** Namespaces + *****************************************************************************/ + +namespace kobuki +{ + +/***************************************************************************** + ** Implementation + *****************************************************************************/ + +void KobukiRos::subscribeVelocityCommand(const geometry_msgs::TwistConstPtr msg) +{ + if (kobuki.isEnabled()) + { + // For now assuming this is in the robot frame, but probably this + // should be global frame and require a transform + //double vx = msg->linear.x; // in (m/s) + //double wz = msg->angular.z; // in (rad/s) + ROS_DEBUG_STREAM("Kobuki : velocity command received [" << msg->linear.x << "],[" << msg->angular.z << "]"); + kobuki.setBaseControl(msg->linear.x, msg->angular.z); + odometry.resetTimeout(); + } + return; +} + + +void KobukiRos::subscribeLed1Command(const kobuki_msgs::LedConstPtr msg) +{ + switch( msg->value ) { + case kobuki_msgs::Led::GREEN: kobuki.setLed(Led1, Green ); break; + case kobuki_msgs::Led::ORANGE: kobuki.setLed(Led1, Orange ); break; + case kobuki_msgs::Led::RED: kobuki.setLed(Led1, Red ); break; + case kobuki_msgs::Led::BLACK: kobuki.setLed(Led1, Black ); break; + default: ROS_WARN_STREAM("Kobuki : led 1 command value invalid."); break; + } + return; +} + +void KobukiRos::subscribeLed2Command(const kobuki_msgs::LedConstPtr msg) +{ + switch( msg->value ) { + case kobuki_msgs::Led::GREEN: kobuki.setLed(Led2, Green ); break; + case kobuki_msgs::Led::ORANGE: kobuki.setLed(Led2, Orange ); break; + case kobuki_msgs::Led::RED: kobuki.setLed(Led2, Red ); break; + case kobuki_msgs::Led::BLACK: kobuki.setLed(Led2, Black ); break; + default: ROS_WARN_STREAM("Kobuki : led 2 command value invalid."); break; + } + return; +} + +void KobukiRos::subscribeDigitalOutputCommand(const kobuki_msgs::DigitalOutputConstPtr msg) +{ + DigitalOutput digital_output; + for ( unsigned int i = 0; i < 4; ++i ) { + digital_output.values[i] = msg->values[i]; + digital_output.mask[i] = msg->mask[i]; + } + kobuki.setDigitalOutput(digital_output); + return; +} + +void KobukiRos::subscribeExternalPowerCommand(const kobuki_msgs::ExternalPowerConstPtr msg) +{ + // Validate message + if (!((msg->source == kobuki_msgs::ExternalPower::PWR_3_3V1A) || + (msg->source == kobuki_msgs::ExternalPower::PWR_5V1A) || + (msg->source == kobuki_msgs::ExternalPower::PWR_12V5A) || + (msg->source == kobuki_msgs::ExternalPower::PWR_12V1_5A))) + { + ROS_ERROR_STREAM("Kobuki : Power source " << (unsigned int)msg->source << " does not exist! [" << name << "]."); + return; + } + if (!((msg->state == kobuki_msgs::ExternalPower::OFF) || + (msg->state == kobuki_msgs::ExternalPower::ON))) + { + ROS_ERROR_STREAM("Kobuki : Power source state " + << (unsigned int)msg->state << " does not exist! [" << name << "]."); + return; + } + + DigitalOutput digital_output; + for ( unsigned int i = 0; i < 4; ++i ) + { + if (i == msg->source) + { + if (msg->state) + { + digital_output.values[i] = true; // turn source on + ROS_INFO_STREAM("Kobuki : Turning on external power source " + << (unsigned int)msg->source << ". [" << name << "]."); + } + else + { + digital_output.values[i] = false; // turn source off + ROS_INFO_STREAM("Kobuki : Turning off external power source " + << (unsigned int)msg->source << ". [" << name << "]."); + } + digital_output.mask[i] = true; // change source state + } + else + { + digital_output.values[i] = false; // values doesn't matter here, since mask is set false, what means ignoring + digital_output.mask[i] = false; + } + } + kobuki.setExternalPower(digital_output); + return; +} + +/** + * @brief Play a predefined sound (single sound or sound sequence) + */ +void KobukiRos::subscribeSoundCommand(const kobuki_msgs::SoundConstPtr msg) +{ + if ( msg->value == kobuki_msgs::Sound::ON ) + { + kobuki.playSoundSequence(On); + } + else if ( msg->value == kobuki_msgs::Sound::OFF ) + { + kobuki.playSoundSequence(Off); + } + else if ( msg->value == kobuki_msgs::Sound::RECHARGE ) + { + kobuki.playSoundSequence(Recharge); + } + else if ( msg->value == kobuki_msgs::Sound::BUTTON ) + { + kobuki.playSoundSequence(Button); + } + else if ( msg->value == kobuki_msgs::Sound::ERROR ) + { + kobuki.playSoundSequence(Error); + } + else if ( msg->value == kobuki_msgs::Sound::CLEANINGSTART ) + { + kobuki.playSoundSequence(CleaningStart); + } + else if ( msg->value == kobuki_msgs::Sound::CLEANINGEND ) + { + kobuki.playSoundSequence(CleaningEnd); + } + else + { + ROS_WARN_STREAM("Kobuki : Invalid sound command! There is no sound stored for value '" << msg->value << "'."); + } + return; +} + +/** + * @brief Reset the odometry variables. + */ +void KobukiRos::subscribeResetOdometry(const std_msgs::EmptyConstPtr /* msg */) +{ + ROS_INFO_STREAM("Kobuki : Resetting the odometry. [" << name << "]."); + joint_states.position[0] = 0.0; // wheel_left + joint_states.velocity[0] = 0.0; + joint_states.position[1] = 0.0; // wheel_right + joint_states.velocity[1] = 0.0; + odometry.resetOdometry(); + kobuki.resetOdometry(); + return; +} + +void KobukiRos::subscribeMotorPower(const kobuki_msgs::MotorPowerConstPtr msg) +{ + if (msg->state == kobuki_msgs::MotorPower::ON) + { + ROS_INFO_STREAM("Kobuki : Firing up the motors. [" << name << "]"); + kobuki.enable(); + odometry.resetTimeout(); + } + else if (msg->state == kobuki_msgs::MotorPower::OFF) + { + kobuki.disable(); + ROS_INFO_STREAM("Kobuki : Shutting down the motors. [" << name << "]"); + odometry.resetTimeout(); + } + else + { + ROS_ERROR_STREAM("Kobuki : Motor power command specifies unknown state '" << (unsigned int)msg->state + << "'. [" << name << "]"); + } +} + +void KobukiRos::subscribeControllerInfoCommand(const kobuki_msgs::ControllerInfoConstPtr msg) +{ + if( msg->p_gain < 0.0f || msg->i_gain < 0.0f || msg->d_gain < 0.0f) { + ROS_ERROR_STREAM("Kobuki : All controller gains should be positive. [" << name << "]"); + return; + } + kobuki.setControllerGain(msg->type, + static_cast(msg->p_gain*1000.0f), + static_cast(msg->i_gain*1000.0f), + static_cast(msg->d_gain*1000.0f)); + return; +} + +} // namespace kobuki diff --git a/autonomous_robotics_ros/src/kobuki_node/src/nodelet/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_node/src/nodelet/CMakeLists.txt new file mode 100644 index 0000000..10ba4a2 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/nodelet/CMakeLists.txt @@ -0,0 +1,11 @@ +############################################################################## +# NODELET +############################################################################## + +add_library(kobuki_nodelet kobuki_nodelet.cpp) +add_dependencies(kobuki_nodelet kobuki_ros) +target_link_libraries(kobuki_nodelet kobuki_ros) + +install(TARGETS kobuki_nodelet + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) \ No newline at end of file diff --git a/autonomous_robotics_ros/src/kobuki_node/src/nodelet/kobuki_nodelet.cpp b/autonomous_robotics_ros/src/kobuki_node/src/nodelet/kobuki_nodelet.cpp new file mode 100644 index 0000000..a533b88 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_node/src/nodelet/kobuki_nodelet.cpp @@ -0,0 +1,91 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +/** + * @file /kobuki_node/src/nodelet/kobuki_nodelet.cpp + * + * @brief Implementation for the ROS Kobuki nodelet + **/ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include +#include +#include "kobuki_node/kobuki_ros.hpp" + + +namespace kobuki +{ + +class KobukiNodelet : public nodelet::Nodelet +{ +public: + KobukiNodelet() : shutdown_requested_(false) {}; + ~KobukiNodelet() + { + NODELET_DEBUG_STREAM("Kobuki : waiting for update thread to finish."); + shutdown_requested_ = true; + update_thread_.join(); + } + virtual void onInit() + { + NODELET_DEBUG_STREAM("Kobuki : initialising nodelet..."); + std::string nodelet_name = this->getName(); + kobuki_.reset(new KobukiRos(nodelet_name)); + // if there are latency issues with callbacks, we might want to move to process callbacks in multiple threads (use MTPrivateNodeHandle) + if (kobuki_->init(this->getPrivateNodeHandle(), this->getNodeHandle())) + { + update_thread_.start(&KobukiNodelet::update, *this); + NODELET_INFO_STREAM("Kobuki : initialised."); + } + else + { + NODELET_ERROR_STREAM("Kobuki : could not initialise! Please restart."); + } + } +private: + void update() + { + ros::Rate spin_rate(10); + while (!shutdown_requested_ && ros::ok() && kobuki_->update()) + { + spin_rate.sleep(); + } + } + + boost::shared_ptr kobuki_; + ecl::Thread update_thread_; + bool shutdown_requested_; +}; + +} // namespace kobuki + +PLUGINLIB_EXPORT_CLASS(kobuki::KobukiNodelet, nodelet::Nodelet); diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/.cproject b/autonomous_robotics_ros/src/kobuki_safety_controller/.cproject new file mode 100644 index 0000000..69abe65 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/.cproject @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + rosmake + + + true + false + true + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.gitignore b/autonomous_robotics_ros/src/kobuki_safety_controller/.gitignore old mode 100755 new mode 100644 similarity index 71% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.gitignore rename to autonomous_robotics_ros/src/kobuki_safety_controller/.gitignore index c745919..638c8d2 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.gitignore +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/.gitignore @@ -1,2 +1,3 @@ bin build +lib diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/.project b/autonomous_robotics_ros/src/kobuki_safety_controller/.project new file mode 100644 index 0000000..b80ade6 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/.project @@ -0,0 +1,79 @@ + + + kobuki_safety_controller + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + ?name? + + + + org.eclipse.cdt.make.core.append_environment + true + + + org.eclipse.cdt.make.core.autoBuildTarget + all + + + org.eclipse.cdt.make.core.buildArguments + + + + org.eclipse.cdt.make.core.buildCommand + make + + + org.eclipse.cdt.make.core.cleanBuildTarget + clean + + + org.eclipse.cdt.make.core.contents + org.eclipse.cdt.make.core.activeConfigSettings + + + org.eclipse.cdt.make.core.enableAutoBuild + false + + + org.eclipse.cdt.make.core.enableCleanBuild + true + + + org.eclipse.cdt.make.core.enableFullBuild + true + + + org.eclipse.cdt.make.core.fullBuildTarget + all + + + org.eclipse.cdt.make.core.stopOnError + true + + + org.eclipse.cdt.make.core.useDefaultBuildCmd + true + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + org.eclipse.cdt.core.cnature + org.eclipse.cdt.core.ccnature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + + diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/CHANGELOG.rst b/autonomous_robotics_ros/src/kobuki_safety_controller/CHANGELOG.rst new file mode 100644 index 0000000..aff573f --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/CHANGELOG.rst @@ -0,0 +1,53 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package kobuki_safety_controller +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.6 (2015-05-27) +------------------ + +0.6.5 (2014-11-21) +------------------ + +0.6.4 (2014-08-26) +------------------ + +0.6.3 (2014-08-25) +------------------ +* added initialization for msg_ to kobuki_safety_controller +* added time_to_extend_bump_cliff_events param to kobuki_safety_controller +* Contributors: Kaijen Hsiao + +0.6.2 (2014-08-11) +------------------ + +0.6.1 (2014-08-08) +------------------ + +0.6.0 (2014-08-08) +------------------ +* Add missing run dependency on yocs_cmd_vel_mux +* Contributors: Jorge Santos + +0.5.5 (2013-10-11) +------------------ + +0.5.4 (2013-09-06) +------------------ + +0.5.3 (2013-08-30) +------------------ + +0.5.0 (2013-08-29) +------------------ +* Added extra url info on all packages. +* Fix URL to the previous changelog wiki. +* Changelogs at package level. + +0.4.0 (2013-08-09) +------------------ + + +Previous versions, bugfixing +============================ + +Available in ROS wiki: http://ros.org/wiki/kobuki/ChangeList diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/CMakeLists.txt b/autonomous_robotics_ros/src/kobuki_safety_controller/CMakeLists.txt new file mode 100644 index 0000000..3780bb6 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kobuki_safety_controller) +find_package(catkin REQUIRED COMPONENTS roscpp nodelet pluginlib std_msgs geometry_msgs kobuki_msgs yocs_controllers ecl_threads) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES kobuki_safety_controller_nodelet + CATKIN_DEPENDS roscpp nodelet pluginlib std_msgs geometry_msgs kobuki_msgs yocs_controllers ecl_threads +) + +include_directories(include + ${catkin_INCLUDE_DIRS}) + +add_library(kobuki_safety_controller_nodelet src/nodelet.cpp) +add_dependencies(kobuki_safety_controller_nodelet ${catkin_EXPORTED_TARGETS}) +target_link_libraries(kobuki_safety_controller_nodelet ${catkin_LIBRARIES}) + +install(TARGETS kobuki_safety_controller_nodelet + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(DIRECTORY plugins + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/include/kobuki_safety_controller/safety_controller.hpp b/autonomous_robotics_ros/src/kobuki_safety_controller/include/kobuki_safety_controller/safety_controller.hpp new file mode 100644 index 0000000..d6df505 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/include/kobuki_safety_controller/safety_controller.hpp @@ -0,0 +1,359 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /kobuki_safety_controller/include/kobuki_safety_controller/safety_controller.hpp + * + * @brief Kobuki-specific safety controller + * + * This controller uses Kobuki's bumper, cliff and wheel drop sensors to ensure safe operation. + * + * @author Marcus Liebhardt, Yujin Robot + * + **/ + +/***************************************************************************** +** Ifdefs +*****************************************************************************/ + +#ifndef SAFETY_CONTROLLER_HPP_ +#define SAFETY_CONTROLLER_HPP_ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace kobuki +{ + +/** + * @ brief Keeps track of safety-related events and commands Kobuki to move accordingly + * + * The SafetyController keeps track of bumper, cliff and wheel drop events. In case of the first two, + * Kobuki is commanded to move back. In the latter case, Kobuki is stopped. All commands stop when the + * event condition disappears. In the case of lateral bump/cliff, robot also spins a bit, what makes + * easier to escape from the risk. + * + * This controller can be enabled/disabled. + * The safety states (bumper pressed etc.) can be reset. WARNING: Dangerous! + */ +class SafetyController : public yocs::Controller +{ +public: + SafetyController(ros::NodeHandle& nh, std::string& name) : + Controller(), + nh_(nh), + name_(name), + wheel_left_dropped_(false), + wheel_right_dropped_(false), + bumper_left_pressed_(false), + bumper_center_pressed_(false), + bumper_right_pressed_(false), + cliff_left_detected_(false), + cliff_center_detected_(false), + cliff_right_detected_(false), + last_event_time_(ros::Time(0)), + msg_(new geometry_msgs::Twist()){}; + ~SafetyController(){}; + + /** + * Set-up necessary publishers/subscribers and variables + * @return true, if successful + */ + bool init() + { + //how long to keep sending messages after a bump, cliff, or wheel drop stops + double time_to_extend_bump_cliff_events; + nh_.param("time_to_extend_bump_cliff_events", time_to_extend_bump_cliff_events, 0.0); + time_to_extend_bump_cliff_events_ = ros::Duration(time_to_extend_bump_cliff_events); + enable_controller_subscriber_ = nh_.subscribe("enable", 10, &SafetyController::enableCB, this); + disable_controller_subscriber_ = nh_.subscribe("disable", 10, &SafetyController::disableCB, this); + bumper_event_subscriber_ = nh_.subscribe("events/bumper", 10, &SafetyController::bumperEventCB, this); + cliff_event_subscriber_ = nh_.subscribe("events/cliff", 10, &SafetyController::cliffEventCB, this); + wheel_event_subscriber_ = nh_.subscribe("events/wheel_drop", 10, &SafetyController::wheelEventCB, this); + reset_safety_states_subscriber_ = nh_.subscribe("reset", 10, &SafetyController::resetSafetyStatesCB, this); + velocity_command_publisher_ = nh_.advertise< geometry_msgs::Twist >("cmd_vel", 10); + return true; + }; + + /** + * @ brief Checks safety states and publishes velocity commands when necessary + */ + void spin(); + +private: + ros::NodeHandle nh_; + std::string name_; + ros::Subscriber enable_controller_subscriber_, disable_controller_subscriber_; + ros::Subscriber bumper_event_subscriber_, cliff_event_subscriber_, wheel_event_subscriber_; + ros::Subscriber reset_safety_states_subscriber_; + ros::Publisher controller_state_publisher_, velocity_command_publisher_; + bool wheel_left_dropped_, wheel_right_dropped_; + bool bumper_left_pressed_, bumper_center_pressed_, bumper_right_pressed_; + bool cliff_left_detected_, cliff_center_detected_, cliff_right_detected_; + ros::Duration time_to_extend_bump_cliff_events_; + ros::Time last_event_time_; + + geometry_msgs::TwistPtr msg_; // velocity command + + /** + * @brief ROS logging output for enabling the controller + * @param msg incoming topic message + */ + void enableCB(const std_msgs::EmptyConstPtr msg); + + /** + * @brief ROS logging output for disabling the controller + * @param msg incoming topic message + */ + void disableCB(const std_msgs::EmptyConstPtr msg); + + /** + * @brief Keeps track of bumps + * @param msg incoming topic message + */ + void bumperEventCB(const kobuki_msgs::BumperEventConstPtr msg); + + /** + * @brief Keeps track of cliff detection + * @param msg incoming topic message + */ + void cliffEventCB(const kobuki_msgs::CliffEventConstPtr msg); + + /** + * @brief Keeps track of the wheel states + * @param msg incoming topic message + */ + void wheelEventCB(const kobuki_msgs::WheelDropEventConstPtr msg); + + /** + * @brief Callback for resetting safety variables + * + * Allows resetting bumper, cliff and wheel drop states. + * DANGEROUS! + * + * @param msg incoming topic message + */ + void resetSafetyStatesCB(const std_msgs::EmptyConstPtr msg); +}; + + +void SafetyController::enableCB(const std_msgs::EmptyConstPtr msg) +{ + if (this->enable()) + { + ROS_INFO_STREAM("Controller has been enabled. [" << name_ << "]"); + } + else + { + ROS_INFO_STREAM("Controller was already enabled. [" << name_ <<"]"); + } +}; + +void SafetyController::disableCB(const std_msgs::EmptyConstPtr msg) +{ + if (this->disable()) + { + ROS_INFO_STREAM("Controller has been disabled. [" << name_ <<"]"); + } + else + { + ROS_INFO_STREAM("Controller was already disabled. [" << name_ <<"]"); + } +}; + +void SafetyController::cliffEventCB(const kobuki_msgs::CliffEventConstPtr msg) +{ + if (msg->state == kobuki_msgs::CliffEvent::CLIFF) + { + last_event_time_ = ros::Time::now(); + ROS_DEBUG_STREAM("Cliff detected. Moving backwards. [" << name_ << "]"); + switch (msg->sensor) + { + case kobuki_msgs::CliffEvent::LEFT: cliff_left_detected_ = true; break; + case kobuki_msgs::CliffEvent::CENTER: cliff_center_detected_ = true; break; + case kobuki_msgs::CliffEvent::RIGHT: cliff_right_detected_ = true; break; + } + } + else // kobuki_msgs::CliffEvent::FLOOR + { + ROS_DEBUG_STREAM("Not detecting any cliffs. Resuming normal operation. [" << name_ << "]"); + switch (msg->sensor) + { + case kobuki_msgs::CliffEvent::LEFT: cliff_left_detected_ = false; break; + case kobuki_msgs::CliffEvent::CENTER: cliff_center_detected_ = false; break; + case kobuki_msgs::CliffEvent::RIGHT: cliff_right_detected_ = false; break; + } + } +}; + +void SafetyController::bumperEventCB(const kobuki_msgs::BumperEventConstPtr msg) +{ + if (msg->state == kobuki_msgs::BumperEvent::PRESSED) + { + last_event_time_ = ros::Time::now(); + ROS_DEBUG_STREAM("Bumper pressed. Moving backwards. [" << name_ << "]"); + switch (msg->bumper) + { + case kobuki_msgs::BumperEvent::LEFT: bumper_left_pressed_ = true; break; + case kobuki_msgs::BumperEvent::CENTER: bumper_center_pressed_ = true; break; + case kobuki_msgs::BumperEvent::RIGHT: bumper_right_pressed_ = true; break; + } + } + else // kobuki_msgs::BumperEvent::RELEASED + { + ROS_DEBUG_STREAM("No bumper pressed. Resuming normal operation. [" << name_ << "]"); + switch (msg->bumper) + { + case kobuki_msgs::BumperEvent::LEFT: bumper_left_pressed_ = false; break; + case kobuki_msgs::BumperEvent::CENTER: bumper_center_pressed_ = false; break; + case kobuki_msgs::BumperEvent::RIGHT: bumper_right_pressed_ = false; break; + } + } +}; + +void SafetyController::wheelEventCB(const kobuki_msgs::WheelDropEventConstPtr msg) +{ + if (msg->state == kobuki_msgs::WheelDropEvent::DROPPED) + { + // need to keep track of both wheels separately + if (msg->wheel == kobuki_msgs::WheelDropEvent::LEFT) + { + ROS_DEBUG_STREAM("Left wheel dropped. [" << name_ << "]"); + wheel_left_dropped_ = true; + } + else // kobuki_msgs::WheelDropEvent::RIGHT + { + ROS_DEBUG_STREAM("Right wheel dropped. [" << name_ << "]"); + wheel_right_dropped_ = true; + } + } + else // kobuki_msgs::WheelDropEvent::RAISED + { + // need to keep track of both wheels separately + if (msg->wheel == kobuki_msgs::WheelDropEvent::LEFT) + { + ROS_DEBUG_STREAM("Left wheel raised. [" << name_ << "]"); + wheel_left_dropped_ = false; + } + else // kobuki_msgs::WheelDropEvent::RIGHT + { + ROS_DEBUG_STREAM("Right wheel raised. [" << name_ << "]"); + wheel_right_dropped_ = false; + } + if (!wheel_left_dropped_ && !wheel_right_dropped_) + { + ROS_DEBUG_STREAM("Both wheels raised. Resuming normal operation. [" << name_ << "]"); + } + } +}; + +void SafetyController::resetSafetyStatesCB(const std_msgs::EmptyConstPtr msg) +{ + wheel_left_dropped_ = false; + wheel_right_dropped_ = false; + bumper_left_pressed_ = false; + bumper_center_pressed_ = false; + bumper_right_pressed_ = false; + cliff_left_detected_ = false; + cliff_center_detected_ = false; + cliff_right_detected_ = false; + ROS_WARN_STREAM("All safety states have been reset to false. [" << name_ << "]"); +} + +void SafetyController::spin() +{ + if (this->getState()) + { + if (wheel_left_dropped_ || wheel_right_dropped_) + { + msg_.reset(new geometry_msgs::Twist()); + msg_->linear.x = 0.0; + msg_->linear.y = 0.0; + msg_->linear.z = 0.0; + msg_->angular.x = 0.0; + msg_->angular.y = 0.0; + msg_->angular.z = 0.0; + velocity_command_publisher_.publish(msg_); + } + else if (bumper_center_pressed_ || cliff_center_detected_) + { + msg_.reset(new geometry_msgs::Twist()); + msg_->linear.x = -0.1; + msg_->linear.y = 0.0; + msg_->linear.z = 0.0; + msg_->angular.x = 0.0; + msg_->angular.y = 0.0; + msg_->angular.z = 0.0; + velocity_command_publisher_.publish(msg_); + } + else if (bumper_left_pressed_ || cliff_left_detected_) + { + // left bump/cliff; also spin a bit to the right to make escape easier + msg_.reset(new geometry_msgs::Twist()); + msg_->linear.x = -0.1; + msg_->linear.y = 0.0; + msg_->linear.z = 0.0; + msg_->angular.x = 0.0; + msg_->angular.y = 0.0; + msg_->angular.z = -0.4; + velocity_command_publisher_.publish(msg_); + } + else if (bumper_right_pressed_ || cliff_right_detected_) + { + // right bump/cliff; also spin a bit to the left to make escape easier + msg_.reset(new geometry_msgs::Twist()); + msg_->linear.x = -0.1; + msg_->linear.y = 0.0; + msg_->linear.z = 0.0; + msg_->angular.x = 0.0; + msg_->angular.y = 0.0; + msg_->angular.z = 0.4; + velocity_command_publisher_.publish(msg_); + } + //if we want to extend the safety state and we're within the time, just keep sending msg_ + else if (time_to_extend_bump_cliff_events_ > ros::Duration(1e-10) && + ros::Time::now() - last_event_time_ < time_to_extend_bump_cliff_events_) { + velocity_command_publisher_.publish(msg_); + } + } +}; + +} // namespace kobuki + +#endif /* SAFETY_CONTROLLER_HPP_ */ diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/launch/standalone.launch b/autonomous_robotics_ros/src/kobuki_safety_controller/launch/standalone.launch new file mode 100644 index 0000000..940a919 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/launch/standalone.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/package.xml b/autonomous_robotics_ros/src/kobuki_safety_controller/package.xml new file mode 100644 index 0000000..962e723 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/package.xml @@ -0,0 +1,43 @@ + + kobuki_safety_controller + 0.7.6 + + A controller ensuring the safe operation of Kobuki. + + The SafetyController keeps track of bumper, cliff and wheel drop events. In case of the first two, + Kobuki is commanded to move back. In the latter case, Kobuki is stopped. + + This controller can be enabled/disabled. + The safety states (bumper pressed etc.) can be reset. WARNING: Dangerous! + + Marcus Liebhardt + Marcus Liebhardt + BSD + https://github.com/yujinrobot/kobuki/issues + https://github.com/yujinrobot/kobuki + http://ros.org/wiki/kobuki_safety_controller + + catkin + + roscpp + nodelet + pluginlib + std_msgs + geometry_msgs + kobuki_msgs + yocs_controllers + ecl_threads + + roscpp + nodelet + pluginlib + std_msgs + geometry_msgs + kobuki_msgs + yocs_controllers + ecl_threads + + + + + diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/plugins/nodelet_plugins.xml b/autonomous_robotics_ros/src/kobuki_safety_controller/plugins/nodelet_plugins.xml new file mode 100644 index 0000000..90544f0 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/plugins/nodelet_plugins.xml @@ -0,0 +1,8 @@ + + + + Nodelet for Kobuki's safety controller + + + + diff --git a/autonomous_robotics_ros/src/kobuki_safety_controller/src/nodelet.cpp b/autonomous_robotics_ros/src/kobuki_safety_controller/src/nodelet.cpp new file mode 100644 index 0000000..2c22189 --- /dev/null +++ b/autonomous_robotics_ros/src/kobuki_safety_controller/src/nodelet.cpp @@ -0,0 +1,102 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /kobuki_safety_controller/src/nodelet.cpp + * + * @brief Implementation for Kobuki's safety controller nodelet + * + * @author Marcus Liebhardt, Yujin Robot + * + **/ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include +#include +#include "kobuki_safety_controller/safety_controller.hpp" + + +namespace kobuki +{ + +class SafetyControllerNodelet : public nodelet::Nodelet +{ +public: + SafetyControllerNodelet() : shutdown_requested_(false) { }; + ~SafetyControllerNodelet() + { + NODELET_DEBUG_STREAM("Waiting for update thread to finish."); + shutdown_requested_ = true; + update_thread_.join(); + } + virtual void onInit() + { + ros::NodeHandle nh = this->getPrivateNodeHandle(); + // resolve node(let) name + std::string name = nh.getUnresolvedNamespace(); + int pos = name.find_last_of('/'); + name = name.substr(pos + 1); + NODELET_INFO_STREAM("Initialising nodelet... [" << name << "]"); + controller_.reset(new SafetyController(nh, name)); + if (controller_->init()) + { + NODELET_INFO_STREAM("Kobuki initialised. Spinning up update thread ... [" << name << "]"); + update_thread_.start(&SafetyControllerNodelet::update, *this); + NODELET_INFO_STREAM("Nodelet initialised. [" << name << "]"); + } + else + { + NODELET_ERROR_STREAM("Couldn't initialise nodelet! Please restart. [" << name << "]"); + } + } +private: + void update() + { + ros::Rate spin_rate(10); + controller_->enable(); // enable the controller when loading the nodelet + while (! shutdown_requested_ && ros::ok()) + { + controller_->spin(); + spin_rate.sleep(); + } + } + + boost::shared_ptr controller_; + ecl::Thread update_thread_; + bool shutdown_requested_; +}; + +} // namespace kobuki + +PLUGINLIB_EXPORT_CLASS(kobuki::SafetyControllerNodelet, + nodelet::Nodelet); diff --git a/autonomous_robotics_ros/src/navigation/fake_localization/fake_localization.cpp b/autonomous_robotics_ros/src/navigation/fake_localization/fake_localization.cpp index d1392e5..80b3da7 100644 --- a/autonomous_robotics_ros/src/navigation/fake_localization/fake_localization.cpp +++ b/autonomous_robotics_ros/src/navigation/fake_localization/fake_localization.cpp @@ -102,7 +102,7 @@ class FakeOdomNode ros::NodeHandle private_nh("~"); private_nh.param("odom_frame_id", odom_frame_id_, std::string("odom")); private_nh.param("base_frame_id", base_frame_id_, std::string("base_link")); - private_nh.param("global_frame_id", global_frame_id_, std::string("/map")); + private_nh.param("global_frame_id", global_frame_id_, std::string("map")); private_nh.param("delta_x", delta_x_, 0.0); private_nh.param("delta_y", delta_y_, 0.0); private_nh.param("delta_yaw", delta_yaw_, 0.0); diff --git a/autonomous_robotics_ros/src/navigation/move_base/CHANGELOG.rst b/autonomous_robotics_ros/src/navigation/move_base/CHANGELOG.rst deleted file mode 100755 index e16c69b..0000000 --- a/autonomous_robotics_ros/src/navigation/move_base/CHANGELOG.rst +++ /dev/null @@ -1,89 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package move_base -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.14.2 (2017-08-14) -------------------- - -1.14.1 (2017-08-07) -------------------- -* Add a max_planning_retries parameter to move_base [kinetic] (`#539 `_) -* Fixed deadlock when changing global planner -* Fix CMakeLists + package.xmls (`#548 `_) -* Added deps to amcl costmap_2d move_base (`#512 `_) -* move_base: Add move_base_msgs to find_package. -* Contributors: Jorge Santos Simón, Maarten de Vries, Martin Günther, Vincent Rabaud, mryellow, ne0 - -1.14.0 (2016-05-20) -------------------- - -1.13.1 (2015-10-29) -------------------- -* Removes installation of nonexistent directories -* use correct size for clearing window -* full name has been required for eons, this code just adds unneeded complexity -* remove ancient conversion scripts from v0.2 to v0.3 -* proper locking during costmap update -* Contributors: Michael Ferguson, Thiago de Freitas Oliveira Araujo - -1.13.0 (2015-03-17) -------------------- -* Fixing various memory freeing operations -* Contributors: Alex Bencz - -1.12.0 (2015-02-04) -------------------- -* update maintainer email -* Contributors: Michael Ferguson - -1.11.15 (2015-02-03) --------------------- -* Disable global planner when resetting state. -* Mark move_base headers for installation -* Add ARCHIVE DESTINATION for move_base -* Break infinite loop when tolerance 0 is used -* remove partial usage of in the code -* Contributors: Gary Servin, Michael Ferguson, ohendriks, v4hn - -1.11.14 (2014-12-05) --------------------- -* use timer rather than rate for immediate wakeup -* adding lock to planner makePlan fail case -* Contributors: Michael Ferguson, phil0stine - -1.11.13 (2014-10-02) --------------------- - -1.11.12 (2014-10-01) --------------------- - -1.11.11 (2014-07-23) --------------------- -* removes trailing spaces and empty lines -* Contributors: Enrique Fernández Perdomo - -1.11.10 (2014-06-25) --------------------- -* Remove unnecessary colons -* move_base planService now searches out from desired goal -* Contributors: David Lu!!, Kaijen Hsiao - -1.11.9 (2014-06-10) -------------------- -* uses ::hypot(x, y) instead of sqrt(x*x, y*y) -* Contributors: Enrique Fernández Perdomo - -1.11.8 (2014-05-21) -------------------- - -1.11.7 (2014-05-21) -------------------- -* update build to find eigen using cmake_modules -* Fix classloader warnings on exit of move_base -* Contributors: Michael Ferguson - -1.11.4 (2013-09-27) -------------------- -* Package URL Updates -* Reintroduce ClearCostmaps Service -* Add dependencies to recovery behaviors. diff --git a/autonomous_robotics_ros/src/navigation/move_base/CMakeLists.txt b/autonomous_robotics_ros/src/navigation/move_base/CMakeLists.txt old mode 100755 new mode 100644 index f4e272e..a1aa0ca --- a/autonomous_robotics_ros/src/navigation/move_base/CMakeLists.txt +++ b/autonomous_robotics_ros/src/navigation/move_base/CMakeLists.txt @@ -20,7 +20,8 @@ find_package(catkin REQUIRED rospy rotate_recovery std_srvs - tf + tf2_geometry_msgs + tf2_ros ) find_package(Eigen3 REQUIRED) add_definitions(${EIGEN3_DEFINITIONS}) @@ -64,11 +65,14 @@ set_target_properties(move_base_node PROPERTIES OUTPUT_NAME move_base) install( TARGETS - move_base move_base_node - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install( + TARGETS + move_base + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} ) ## Mark cpp header files for installation @@ -76,3 +80,4 @@ install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.h" ) + diff --git a/autonomous_robotics_ros/src/navigation/move_base/cfg/MoveBase.cfg b/autonomous_robotics_ros/src/navigation/move_base/cfg/MoveBase.cfg old mode 100755 new mode 100644 index 20f9f17..2c6512d --- a/autonomous_robotics_ros/src/navigation/move_base/cfg/MoveBase.cfg +++ b/autonomous_robotics_ros/src/navigation/move_base/cfg/MoveBase.cfg @@ -26,5 +26,9 @@ gen.add("shutdown_costmaps", bool_t, 0, "Determines whether or not to shutdown t gen.add("oscillation_timeout", double_t, 0, "How long in seconds to allow for oscillation before executing recovery behaviors.", 0.0, 0, 60) gen.add("oscillation_distance", double_t, 0, "How far in meters the robot must move to be considered not to be oscillating.", 0.5, 0, 10) +gen.add("make_plan_clear_costmap", bool_t, 0, "Whether or not to clear the global costmap on make_plan service call.", True) +gen.add("make_plan_add_unreachable_goal", bool_t, 0, "Whether or not to add the original goal to the path if it is unreachable in the make_plan service call.", True) + gen.add("restore_defaults", bool_t, 0, "Restore to the original configuration", False) exit(gen.generate(PACKAGE, "move_base_node", "MoveBase")) + diff --git a/autonomous_robotics_ros/src/navigation/move_base/include/move_base/move_base.h b/autonomous_robotics_ros/src/navigation/move_base/include/move_base/move_base.h old mode 100755 new mode 100644 index 1471846..9d51f59 --- a/autonomous_robotics_ros/src/navigation/move_base/include/move_base/move_base.h +++ b/autonomous_robotics_ros/src/navigation/move_base/include/move_base/move_base.h @@ -53,7 +53,7 @@ #include #include -#include +#include #include #include @@ -87,7 +87,7 @@ namespace move_base { * @param name The name of the action * @param tf A reference to a TransformListener */ - MoveBase(tf::TransformListener& tf); + MoveBase(tf2_ros::Buffer& tf); /** * @brief Destructor - Cleans up @@ -164,6 +164,8 @@ namespace move_base { bool isQuaternionValid(const geometry_msgs::Quaternion& q); + bool getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap); + double distance(const geometry_msgs::PoseStamped& p1, const geometry_msgs::PoseStamped& p2); geometry_msgs::PoseStamped goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg); @@ -173,7 +175,7 @@ namespace move_base { */ void wakePlanner(const ros::TimerEvent& event); - tf::TransformListener& tf_; + tf2_ros::Buffer& tf_; MoveBaseActionServer* as_; @@ -184,18 +186,20 @@ namespace move_base { std::string robot_base_frame_, global_frame_; std::vector > recovery_behaviors_; + std::vector recovery_behavior_names_; unsigned int recovery_index_; - tf::Stamped global_pose_; + geometry_msgs::PoseStamped global_pose_; double planner_frequency_, controller_frequency_, inscribed_radius_, circumscribed_radius_; double planner_patience_, controller_patience_; int32_t max_planning_retries_; uint32_t planning_retries_; double conservative_reset_dist_, clearing_radius_; - ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_; + ros::Publisher current_goal_pub_, vel_pub_, action_goal_pub_, recovery_status_pub_; ros::Subscriber goal_sub_; ros::ServiceServer make_plan_srv_, clear_costmaps_srv_; bool shutdown_costmaps_, clearing_rotation_allowed_, recovery_behavior_enabled_; + bool make_plan_clear_costmap_, make_plan_add_unreachable_goal_; double oscillation_timeout_, oscillation_distance_; MoveBaseState state_; @@ -233,3 +237,4 @@ namespace move_base { }; #endif + diff --git a/autonomous_robotics_ros/src/navigation/move_base/package.xml b/autonomous_robotics_ros/src/navigation/move_base/package.xml old mode 100755 new mode 100644 index 387e007..0897f17 --- a/autonomous_robotics_ros/src/navigation/move_base/package.xml +++ b/autonomous_robotics_ros/src/navigation/move_base/package.xml @@ -1,6 +1,8 @@ - + + + move_base - 1.14.2 + 1.16.7 The move_base package provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface specified in the nav_core package and any local planner adhering to the nav_core::BaseLocalPlanner interface specified in the nav_core package. The move_base node also maintains two costmaps, one for the global planner, and one for a local planner (see the costmap_2d package) that are used to accomplish navigation tasks. @@ -9,49 +11,38 @@ Eitan Marder-Eppstein contradict@gmail.com David V. Lu!! - Michael Ferguson + Michael Ferguson + Aaron Hoy BSD http://wiki.ros.org/move_base catkin - actionlib cmake_modules - costmap_2d - dynamic_reconfigure - geometry_msgs message_generation - move_base_msgs - nav_core - nav_msgs - pluginlib - roscpp - rospy - std_srvs - tf + tf2_geometry_msgs + + actionlib + costmap_2d + dynamic_reconfigure + geometry_msgs + move_base_msgs + nav_core + nav_msgs + pluginlib + roscpp + rospy + std_srvs + tf2_ros + visualization_msgs - base_local_planner - clear_costmap_recovery - navfn - rotate_recovery - base_local_planner - clear_costmap_recovery - navfn - rotate_recovery + base_local_planner + clear_costmap_recovery + navfn + rotate_recovery - actionlib - costmap_2d - dynamic_reconfigure - geometry_msgs - message_runtime - move_base_msgs - nav_core - nav_msgs - pluginlib - roscpp - rospy - std_srvs - tf + message_runtime + diff --git a/autonomous_robotics_ros/src/navigation/move_base/planner_test.xml b/autonomous_robotics_ros/src/navigation/move_base/planner_test.xml old mode 100755 new mode 100644 diff --git a/autonomous_robotics_ros/src/navigation/move_base/src/move_base.cpp b/autonomous_robotics_ros/src/navigation/move_base/src/move_base.cpp old mode 100755 new mode 100644 index c808382..b08c097 --- a/autonomous_robotics_ros/src/navigation/move_base/src/move_base.cpp +++ b/autonomous_robotics_ros/src/navigation/move_base/src/move_base.cpp @@ -3,7 +3,6 @@ * Software License Agreement (BSD License) * * Copyright (c) 2008, Willow Garage, Inc. -* Copyright (c) 2017, Texas Instruments Incorporated * All rights reserved. * * Redistribution and use in source and binary forms, with or without @@ -37,6 +36,7 @@ * Mike Phillips (put the planner in its own thread) *********************************************************************/ #include +#include #include #include @@ -44,14 +44,16 @@ #include +#include + namespace move_base { - MoveBase::MoveBase(tf::TransformListener& tf) : + MoveBase::MoveBase(tf2_ros::Buffer& tf) : tf_(tf), as_(NULL), planner_costmap_ros_(NULL), controller_costmap_ros_(NULL), bgp_loader_("nav_core", "nav_core::BaseGlobalPlanner"), - blp_loader_("nav_core", "nav_core::BaseLocalPlanner"), + blp_loader_("nav_core", "nav_core::BaseLocalPlanner"), recovery_loader_("nav_core", "nav_core::RecoveryBehavior"), planner_plan_(NULL), latest_plan_(NULL), controller_plan_(NULL), runPlanner_(false), setup_(false), p_freq_change_(false), c_freq_change_(false), new_global_plan_(false) { @@ -68,7 +70,7 @@ namespace move_base { private_nh.param("base_global_planner", global_planner, std::string("navfn/NavfnROS")); private_nh.param("base_local_planner", local_planner, std::string("base_local_planner/TrajectoryPlannerROS")); private_nh.param("global_costmap/robot_base_frame", robot_base_frame_, std::string("base_link")); - private_nh.param("global_costmap/global_frame", global_frame_, std::string("/map")); + private_nh.param("global_costmap/global_frame", global_frame_, std::string("map")); private_nh.param("planner_frequency", planner_frequency_, 0.0); private_nh.param("controller_frequency", controller_frequency_, 20.0); private_nh.param("planner_patience", planner_patience_, 5.0); @@ -78,6 +80,10 @@ namespace move_base { private_nh.param("oscillation_timeout", oscillation_timeout_, 0.0); private_nh.param("oscillation_distance", oscillation_distance_, 0.5); + // parameters of make_plan service + private_nh.param("make_plan_clear_costmap", make_plan_clear_costmap_, true); + private_nh.param("make_plan_add_unreachable_goal", make_plan_add_unreachable_goal_, true); + //set up plan triple buffer planner_plan_ = new std::vector(); latest_plan_ = new std::vector(); @@ -86,12 +92,13 @@ namespace move_base { //set up the planner's thread planner_thread_ = new boost::thread(boost::bind(&MoveBase::planThread, this)); - //for comanding the base + //for commanding the base vel_pub_ = nh.advertise("cmd_vel", 1); current_goal_pub_ = private_nh.advertise("current_goal", 0 ); ros::NodeHandle action_nh("move_base"); action_goal_pub_ = action_nh.advertise("goal", 1); + recovery_status_pub_= action_nh.advertise("recovery_status", 1); //we'll provide a mechanism for some people to send goals as PoseStamped messages over a topic //they won't get any useful information back about its status, but this is useful for tools @@ -259,6 +266,9 @@ namespace move_base { } } + make_plan_clear_costmap_ = config.make_plan_clear_costmap; + make_plan_add_unreachable_goal_ = config.make_plan_add_unreachable_goal; + last_config_ = config; } @@ -272,14 +282,14 @@ namespace move_base { } void MoveBase::clearCostmapWindows(double size_x, double size_y){ - tf::Stamped global_pose; + geometry_msgs::PoseStamped global_pose; //clear the planner's costmap - planner_costmap_ros_->getRobotPose(global_pose); + getRobotPose(global_pose, planner_costmap_ros_); std::vector clear_poly; - double x = global_pose.getOrigin().x(); - double y = global_pose.getOrigin().y(); + double x = global_pose.pose.position.x; + double y = global_pose.pose.position.y; geometry_msgs::Point pt; pt.x = x - size_x / 2; @@ -301,11 +311,11 @@ namespace move_base { planner_costmap_ros_->getCostmap()->setConvexPolygonCost(clear_poly, costmap_2d::FREE_SPACE); //clear the controller's costmap - controller_costmap_ros_->getRobotPose(global_pose); + getRobotPose(global_pose, controller_costmap_ros_); clear_poly.clear(); - x = global_pose.getOrigin().x(); - y = global_pose.getOrigin().y(); + x = global_pose.pose.position.x; + y = global_pose.pose.position.y; pt.x = x - size_x / 2; pt.y = y - size_y / 2; @@ -328,8 +338,11 @@ namespace move_base { bool MoveBase::clearCostmapsService(std_srvs::Empty::Request &req, std_srvs::Empty::Response &resp){ //clear the costmaps - planner_costmap_ros_->resetLayers(); + boost::unique_lock lock_controller(*(controller_costmap_ros_->getCostmap()->getMutex())); controller_costmap_ros_->resetLayers(); + + boost::unique_lock lock_planner(*(planner_costmap_ros_->getCostmap()->getMutex())); + planner_costmap_ros_->resetLayers(); return true; } @@ -349,25 +362,27 @@ namespace move_base { //if the user does not specify a start pose, identified by an empty frame id, then use the robot's pose if(req.start.header.frame_id.empty()) { - tf::Stamped global_pose; - if(!planner_costmap_ros_->getRobotPose(global_pose)){ + geometry_msgs::PoseStamped global_pose; + if(!getRobotPose(global_pose, planner_costmap_ros_)){ ROS_ERROR("move_base cannot make a plan for you because it could not get the start pose of the robot"); return false; } - tf::poseStampedTFToMsg(global_pose, start); + start = global_pose; } else { start = req.start; } - //update the copy of the costmap the planner uses - clearCostmapWindows(2 * clearing_radius_, 2 * clearing_radius_); + if (make_plan_clear_costmap_) { + //update the copy of the costmap the planner uses + clearCostmapWindows(2 * clearing_radius_, 2 * clearing_radius_); + } //first try to make a plan to the exact desired goal std::vector global_plan; if(!planner_->makePlan(start, req.goal, global_plan) || global_plan.empty()){ - ROS_DEBUG_NAMED("move_base","Failed to find a plan to exact goal of (%.2f, %.2f), searching for a feasible goal within tolerance", + ROS_DEBUG_NAMED("move_base","Failed to find a plan to exact goal of (%.2f, %.2f), searching for a feasible goal within tolerance", req.goal.pose.position.x, req.goal.pose.position.y); //search outwards for a feasible goal within the specified tolerance @@ -399,9 +414,11 @@ namespace move_base { if(planner_->makePlan(start, p, global_plan)){ if(!global_plan.empty()){ - //adding the (unreachable) original goal to the end of the global plan, in case the local planner can get you there - //(the reachable goal should have been added by the global planner) - global_plan.push_back(req.goal); + if (make_plan_add_unreachable_goal_) { + //adding the (unreachable) original goal to the end of the global plan, in case the local planner can get you there + //(the reachable goal should have been added by the global planner) + global_plan.push_back(req.goal); + } found_legal = true; ROS_DEBUG_NAMED("move_base", "Found a plan to point (%.2f, %.2f)", p.pose.position.x, p.pose.position.y); @@ -467,14 +484,13 @@ namespace move_base { } //get the starting pose of the robot - tf::Stamped global_pose; - if(!planner_costmap_ros_->getRobotPose(global_pose)) { + geometry_msgs::PoseStamped global_pose; + if(!getRobotPose(global_pose, planner_costmap_ros_)) { ROS_WARN("Unable to get starting pose of robot, unable to create global plan"); return false; } - geometry_msgs::PoseStamped start; - tf::poseStampedTFToMsg(global_pose, start); + const geometry_msgs::PoseStamped& start = global_pose; //if the planner fails or returns a zero length plan, planning failed if(!planner_->makePlan(start, goal, plan) || plan.empty()){ @@ -500,7 +516,7 @@ namespace move_base { return false; } - tf::Quaternion tf_q(q.x, q.y, q.z, q.w); + tf2::Quaternion tf_q(q.x, q.y, q.z, q.w); //next, we need to check if the length of the quaternion is close to zero if(tf_q.length2() < 1e-6){ @@ -511,7 +527,7 @@ namespace move_base { //next, we'll normalize the quaternion and check that it transforms the vertical vector correctly tf_q.normalize(); - tf::Vector3 up(0, 0, 1); + tf2::Vector3 up(0, 0, 1); double dot = up.dot(up.rotate(tf_q.getAxis(), tf_q.getAngle())); @@ -525,25 +541,23 @@ namespace move_base { geometry_msgs::PoseStamped MoveBase::goalToGlobalFrame(const geometry_msgs::PoseStamped& goal_pose_msg){ std::string global_frame = planner_costmap_ros_->getGlobalFrameID(); - tf::Stamped goal_pose, global_pose; - poseStampedMsgToTF(goal_pose_msg, goal_pose); + geometry_msgs::PoseStamped goal_pose, global_pose; + goal_pose = goal_pose_msg; //just get the latest available transform... for accuracy they should send //goals in the frame of the planner - goal_pose.stamp_ = ros::Time(); + goal_pose.header.stamp = ros::Time(); try{ - tf_.transformPose(global_frame, goal_pose, global_pose); + tf_.transform(goal_pose_msg, global_pose, global_frame); } - catch(tf::TransformException& ex){ + catch(tf2::TransformException& ex){ ROS_WARN("Failed to transform the goal pose from %s into the %s frame: %s", - goal_pose.frame_id_.c_str(), global_frame.c_str(), ex.what()); + goal_pose.header.frame_id.c_str(), global_frame.c_str(), ex.what()); return goal_pose_msg; } - geometry_msgs::PoseStamped global_pose_msg; - tf::poseStampedTFToMsg(global_pose, global_pose_msg); - return global_pose_msg; + return global_pose; } void MoveBase::wakePlanner(const ros::TimerEvent& event) @@ -643,6 +657,7 @@ namespace move_base { geometry_msgs::PoseStamped goal = goalToGlobalFrame(move_base_goal->target_pose); + publishZeroVelocity(); //we have a goal so start the planner boost::unique_lock lock(planner_mutex_); planner_goal_ = goal; @@ -661,7 +676,7 @@ namespace move_base { } // Perform initial rotation - recovery_behaviors_[recovery_index_]->runBehavior(); + recovery_behaviors_[recovery_index_]->runBehavior(); //we want to make sure that we reset the last time we had a valid plan and control last_valid_control_ = ros::Time::now(); @@ -794,10 +809,9 @@ namespace move_base { geometry_msgs::Twist cmd_vel; //update feedback to correspond to our curent position - tf::Stamped global_pose; - planner_costmap_ros_->getRobotPose(global_pose); - geometry_msgs::PoseStamped current_position; - tf::poseStampedTFToMsg(global_pose, current_position); + geometry_msgs::PoseStamped global_pose; + getRobotPose(global_pose, planner_costmap_ros_); + const geometry_msgs::PoseStamped& current_position = global_pose; //push the feedback out move_base_msgs::MoveBaseFeedback feedback; @@ -810,7 +824,7 @@ namespace move_base { last_oscillation_reset_ = ros::Time::now(); oscillation_pose_ = current_position; - //if our last recovery was caused by oscillation, we want to reset the recovery index + //if our last recovery was caused by oscillation, we want to reset the recovery index if(recovery_trigger_ == OSCILLATION_R) recovery_index_ = 0; } @@ -895,10 +909,10 @@ namespace move_base { state_ = CLEARING; recovery_trigger_ = OSCILLATION_R; } - + { boost::unique_lock lock(*(controller_costmap_ros_->getCostmap()->getMutex())); - + if(tc_->computeVelocityCommands(cmd_vel)){ ROS_DEBUG_NAMED( "move_base", "Got a valid command from the local planner: %.3lf, %.3lf, %.3lf", cmd_vel.linear.x, cmd_vel.linear.y, cmd_vel.angular.z ); @@ -942,7 +956,16 @@ namespace move_base { ROS_DEBUG_NAMED("move_base","In clearing/recovery state"); //we'll invoke whatever recovery behavior we're currently on if they're enabled if(recovery_behavior_enabled_ && recovery_index_ < recovery_behaviors_.size()){ - ROS_DEBUG_NAMED("move_base_recovery","Executing behavior %u of %zu", recovery_index_, recovery_behaviors_.size()); + ROS_DEBUG_NAMED("move_base_recovery","Executing behavior %u of %zu", recovery_index_+1, recovery_behaviors_.size()); + + move_base_msgs::RecoveryStatus msg; + msg.pose_stamped = current_position; + msg.current_recovery_number = recovery_index_; + msg.total_number_of_recoveries = recovery_behaviors_.size(); + msg.recovery_behavior_name = recovery_behavior_names_[recovery_index_]; + + recovery_status_pub_.publish(msg); + recovery_behaviors_[recovery_index_]->runBehavior(); //we at least want to give the robot some time to stop oscillating after executing the behavior @@ -1011,7 +1034,7 @@ namespace move_base { std::string name_i = behavior_list[i]["name"]; std::string name_j = behavior_list[j]["name"]; if(name_i == name_j){ - ROS_ERROR("A recovery behavior with the name %s already exists, this is not allowed. Using the default recovery behaviors instead.", + ROS_ERROR("A recovery behavior with the name %s already exists, this is not allowed. Using the default recovery behaviors instead.", name_i.c_str()); return false; } @@ -1058,6 +1081,7 @@ namespace move_base { //initialize the recovery behavior with its name behavior->initialize(behavior_list[i]["name"], &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back(behavior_list[i]["name"]); recovery_behaviors_.push_back(behavior); } catch(pluginlib::PluginlibException& ex){ @@ -1067,7 +1091,7 @@ namespace move_base { } } else{ - ROS_ERROR("The recovery behavior specification must be a list, but is of XmlRpcType %d. We'll use the default recovery behaviors instead.", + ROS_ERROR("The recovery behavior specification must be a list, but is of XmlRpcType %d. We'll use the default recovery behaviors instead.", behavior_list.getType()); return false; } @@ -1093,23 +1117,28 @@ namespace move_base { //first, we'll load a recovery behavior to clear the costmap boost::shared_ptr cons_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery")); cons_clear->initialize("conservative_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("conservative_reset"); recovery_behaviors_.push_back(cons_clear); //next, we'll load a recovery behavior to rotate in place boost::shared_ptr rotate(recovery_loader_.createInstance("rotate_recovery/RotateRecovery")); if(clearing_rotation_allowed_){ rotate->initialize("rotate_recovery", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("rotate_recovery"); recovery_behaviors_.push_back(rotate); } //next, we'll load a recovery behavior that will do an aggressive reset of the costmap boost::shared_ptr ags_clear(recovery_loader_.createInstance("clear_costmap_recovery/ClearCostmapRecovery")); ags_clear->initialize("aggressive_reset", &tf_, planner_costmap_ros_, controller_costmap_ros_); + recovery_behavior_names_.push_back("aggressive_reset"); recovery_behaviors_.push_back(ags_clear); //we'll rotate in-place one more time - if(clearing_rotation_allowed_) + if(clearing_rotation_allowed_){ recovery_behaviors_.push_back(rotate); + recovery_behavior_names_.push_back("rotate_recovery"); + } } catch(pluginlib::PluginlibException& ex){ ROS_FATAL("Failed to load a plugin. This should not happen on default recovery behaviors. Error: %s", ex.what()); @@ -1137,4 +1166,47 @@ namespace move_base { controller_costmap_ros_->stop(); } } + + bool MoveBase::getRobotPose(geometry_msgs::PoseStamped& global_pose, costmap_2d::Costmap2DROS* costmap) + { + tf2::toMsg(tf2::Transform::getIdentity(), global_pose.pose); + geometry_msgs::PoseStamped robot_pose; + tf2::toMsg(tf2::Transform::getIdentity(), robot_pose.pose); + robot_pose.header.frame_id = robot_base_frame_; + robot_pose.header.stamp = ros::Time(); // latest available + ros::Time current_time = ros::Time::now(); // save time for checking tf delay later + + // get robot pose on the given costmap frame + try + { + tf_.transform(robot_pose, global_pose, costmap->getGlobalFrameID()); + } + catch (tf2::LookupException& ex) + { + ROS_ERROR_THROTTLE(1.0, "No Transform available Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ConnectivityException& ex) + { + ROS_ERROR_THROTTLE(1.0, "Connectivity Error looking up robot pose: %s\n", ex.what()); + return false; + } + catch (tf2::ExtrapolationException& ex) + { + ROS_ERROR_THROTTLE(1.0, "Extrapolation Error looking up robot pose: %s\n", ex.what()); + return false; + } + + // check if global_pose time stamp is within costmap transform tolerance + if (current_time.toSec() - global_pose.header.stamp.toSec() > costmap->getTransformTolerance()) + { + ROS_WARN_THROTTLE(1.0, "Transform timeout for %s. " \ + "Current time: %.4f, pose stamp: %.4f, tolerance: %.4f", costmap->getName().c_str(), + current_time.toSec(), global_pose.header.stamp.toSec(), costmap->getTransformTolerance()); + return false; + } + + return true; + } }; + diff --git a/autonomous_robotics_ros/src/navigation/move_base/src/move_base_node.cpp b/autonomous_robotics_ros/src/navigation/move_base/src/move_base_node.cpp old mode 100755 new mode 100644 index bf55ec6..6ca38b8 --- a/autonomous_robotics_ros/src/navigation/move_base/src/move_base_node.cpp +++ b/autonomous_robotics_ros/src/navigation/move_base/src/move_base_node.cpp @@ -28,15 +28,18 @@ */ #include +#include int main(int argc, char** argv){ ros::init(argc, argv, "move_base_node"); - tf::TransformListener tf(ros::Duration(10)); + tf2_ros::Buffer buffer(ros::Duration(10)); + tf2_ros::TransformListener tf(buffer); - move_base::MoveBase move_base( tf ); + move_base::MoveBase move_base( buffer ); //ros::MultiThreadedSpinner s; ros::spin(); return(0); } + diff --git a/autonomous_robotics_ros/src/navigation/rotate_recovery/CHANGELOG.rst b/autonomous_robotics_ros/src/navigation/rotate_recovery/CHANGELOG.rst deleted file mode 100755 index 08a84e1..0000000 --- a/autonomous_robotics_ros/src/navigation/rotate_recovery/CHANGELOG.rst +++ /dev/null @@ -1,60 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package rotate_recovery -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.14.2 (2017-08-14) -------------------- - -1.14.1 (2017-08-07) -------------------- -* Fix CMakeLists + package.xmls (`#548 `_) -* Contributors: Martin Günther, Vincent Rabaud - -1.14.0 (2016-05-20) -------------------- - -1.13.1 (2015-10-29) -------------------- - -1.13.0 (2015-03-17) -------------------- - -1.12.0 (2015-02-04) -------------------- -* update maintainer email -* Contributors: Michael Ferguson - -1.11.15 (2015-02-03) --------------------- -* Add ARCHIVE_DESTINATION for static builds -* Contributors: Gary Servin - -1.11.14 (2014-12-05) --------------------- - -1.11.13 (2014-10-02) --------------------- - -1.11.12 (2014-10-01) --------------------- - -1.11.11 (2014-07-23) --------------------- - -1.11.10 (2014-06-25) --------------------- - -1.11.9 (2014-06-10) -------------------- - -1.11.8 (2014-05-21) -------------------- - -1.11.7 (2014-05-21) -------------------- -* update build to find eigen using cmake_modules -* Contributors: Michael Ferguson - -1.11.4 (2013-09-27) -------------------- -* Package URL Updates diff --git a/autonomous_robotics_ros/src/navigation/rotate_recovery/CMakeLists.txt b/autonomous_robotics_ros/src/navigation/rotate_recovery/CMakeLists.txt old mode 100755 new mode 100644 index 3cc6610..53f7fc7 --- a/autonomous_robotics_ros/src/navigation/rotate_recovery/CMakeLists.txt +++ b/autonomous_robotics_ros/src/navigation/rotate_recovery/CMakeLists.txt @@ -2,15 +2,19 @@ cmake_minimum_required(VERSION 2.8.3) project(rotate_recovery) find_package(catkin REQUIRED - COMPONENTS - cmake_modules - roscpp - tf - costmap_2d - nav_core - pluginlib - base_local_planner - ) + COMPONENTS + angles + base_local_planner + cmake_modules + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros +) find_package(Eigen3 REQUIRED) include_directories( @@ -21,11 +25,16 @@ include_directories( add_definitions(${EIGEN3_DEFINITIONS}) catkin_package( - INCLUDE_DIRS include - LIBRARIES rotate_recovery - CATKIN_DEPENDS - roscpp - pluginlib + INCLUDE_DIRS include + LIBRARIES rotate_recovery + CATKIN_DEPENDS + costmap_2d + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_ros ) add_library(rotate_recovery src/rotate_recovery.cpp) @@ -35,6 +44,7 @@ target_link_libraries(rotate_recovery ${catkin_LIBRARIES}) install(TARGETS rotate_recovery ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} ) install(DIRECTORY include/${PROJECT_NAME}/ diff --git a/autonomous_robotics_ros/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h b/autonomous_robotics_ros/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h old mode 100755 new mode 100644 index b7a1c50..1aaf425 --- a/autonomous_robotics_ros/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h +++ b/autonomous_robotics_ros/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h @@ -34,58 +34,54 @@ * * Author: Eitan Marder-Eppstein *********************************************************************/ -#ifndef ROTATE_RECOVERY_H_ -#define ROTATE_RECOVERY_H_ +#ifndef ROTATE_RECOVERY_ROTATE_RECOVERY_H +#define ROTATE_RECOVERY_ROTATE_RECOVERY_H #include #include -#include -#include +#include #include -#include -#include -#include +#include -namespace rotate_recovery{ +namespace rotate_recovery +{ +/** + * @class RotateRecovery + * @brief A recovery behavior that rotates the robot in-place to attempt to clear out space + */ +class RotateRecovery : public nav_core::RecoveryBehavior +{ +public: /** - * @class RotateRecovery - * @brief A recovery behavior that rotates the robot in-place to attempt to clear out space + * @brief Constructor, make sure to call initialize in addition to actually initialize the object */ - class RotateRecovery : public nav_core::RecoveryBehavior { - public: - /** - * @brief Constructor, make sure to call initialize in addition to actually initialize the object - * @param - * @return - */ - RotateRecovery(); + RotateRecovery(); - /** - * @brief Initialization function for the RotateRecovery recovery behavior - * @param tf A pointer to a transform listener - * @param global_costmap A pointer to the global_costmap used by the navigation stack - * @param local_costmap A pointer to the local_costmap used by the navigation stack - */ - void initialize(std::string name, tf::TransformListener* tf, - costmap_2d::Costmap2DROS* global_costmap, costmap_2d::Costmap2DROS* local_costmap); + /** + * @brief Initialization function for the RotateRecovery recovery behavior + * @param name Namespace used in initialization + * @param tf (unused) + * @param global_costmap (unused) + * @param local_costmap A pointer to the local_costmap used by the navigation stack + */ + void initialize(std::string name, tf2_ros::Buffer*, + costmap_2d::Costmap2DROS*, costmap_2d::Costmap2DROS* local_costmap); - /** - * @brief Run the RotateRecovery recovery behavior. - */ - void runBehavior(); + /** + * @brief Run the RotateRecovery recovery behavior. + */ + void runBehavior(); - /** - * @brief Destructor for the rotate recovery behavior - */ - ~RotateRecovery(); + /** + * @brief Destructor for the rotate recovery behavior + */ + ~RotateRecovery(); - private: - costmap_2d::Costmap2DROS* global_costmap_, *local_costmap_; - costmap_2d::Costmap2D costmap_; - std::string name_; - tf::TransformListener* tf_; - bool initialized_; - double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_; - base_local_planner::CostmapModel* world_model_; - }; +private: + costmap_2d::Costmap2DROS* local_costmap_; + bool initialized_; + double sim_granularity_, min_rotational_vel_, max_rotational_vel_, acc_lim_th_, tolerance_, frequency_; + base_local_planner::CostmapModel* world_model_; }; -#endif +}; // namespace rotate_recovery +#endif // ROTATE_RECOVERY_ROTATE_RECOVERY_H + diff --git a/autonomous_robotics_ros/src/navigation/rotate_recovery/package.xml b/autonomous_robotics_ros/src/navigation/rotate_recovery/package.xml old mode 100755 new mode 100644 index 835c9f4..c51a7eb --- a/autonomous_robotics_ros/src/navigation/rotate_recovery/package.xml +++ b/autonomous_robotics_ros/src/navigation/rotate_recovery/package.xml @@ -1,6 +1,8 @@ - + + + rotate_recovery - 1.14.2 + 1.16.7 This package provides a recovery behavior for the navigation stack that attempts to clear space by performing a 360 degree rotation of the robot. @@ -9,28 +11,26 @@ Eitan Marder-Eppstein contradict@gmail.com David V. Lu!! - Michael Ferguson + Michael Ferguson + Aaron Hoy BSD http://wiki.ros.org/rotate_recovery catkin - cmake_modules - roscpp - tf - costmap_2d - nav_core - pluginlib - eigen + angles base_local_planner + cmake_modules - roscpp - tf - costmap_2d - nav_core - pluginlib - eigen - + costmap_2d + eigen + geometry_msgs + nav_core + pluginlib + roscpp + tf2 + tf2_geometry_msgs + tf2_ros diff --git a/autonomous_robotics_ros/src/navigation/rotate_recovery/rotate_plugin.xml b/autonomous_robotics_ros/src/navigation/rotate_recovery/rotate_plugin.xml old mode 100755 new mode 100644 diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg index f4795e9..c1da4e9 100644 --- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg @@ -48,6 +48,6 @@ analogMonitor 0 0 aoaFovCfg -1 -90 90 -90 90 cfarFovCfg -1 0 0 9.00 cfarFovCfg -1 1 -5.14 5.14 -calibData 0 0 0 +%calibData 0 0 0 sensorStart diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch index b760dce..781697e 100644 --- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch @@ -12,13 +12,13 @@ - + - + - + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch index ecb1a92..89cb9d1 100644 --- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch @@ -18,7 +18,7 @@ - + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch index e505b0f..5a40825 100644 --- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch @@ -12,13 +12,13 @@ - + - + - + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch index a0af349..177a8c6 100644 --- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch @@ -12,13 +12,13 @@ - + - + - + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch index 7897bae..e73ba7b 100644 --- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch @@ -18,13 +18,13 @@ - + - + diff --git a/autonomous_robotics_ros/src/turtlebot/.gitignore b/autonomous_robotics_ros/src/turtlebot/.gitignore new file mode 100644 index 0000000..2dc9fe2 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/.gitignore @@ -0,0 +1,8 @@ +.settings +.idea +bin +build +lib +*.swp +*.swo +*.pyc diff --git a/autonomous_robotics_ros/src/turtlebot/LICENSE b/autonomous_robotics_ros/src/turtlebot/LICENSE new file mode 100644 index 0000000..5109980 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/LICENSE @@ -0,0 +1,30 @@ +BSD 3-Clause License + +Copyright (c) 2010-2013 , Willow Garage, Inc. +Copyright (c) 2013-2018 , Open Source Robotics Foundation +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + +* Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + +* Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + +* Neither the name of the copyright holder nor the names of its + contributors may be used to endorse or promote products derived from + this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/README.md b/autonomous_robotics_ros/src/turtlebot/README.md old mode 100755 new mode 100644 similarity index 86% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/README.md rename to autonomous_robotics_ros/src/turtlebot/README.md index aba877f..3a70594 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/README.md +++ b/autonomous_robotics_ros/src/turtlebot/README.md @@ -1,11 +1,11 @@ turtlebot ========= -The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org) and th TI mmWave EVMs. +The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org). ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot) -![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png) +![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/setup_create.sh b/autonomous_robotics_ros/src/turtlebot/setup_create.sh old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/setup_create.sh rename to autonomous_robotics_ros/src/turtlebot/setup_create.sh diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/setup_kobuki.sh b/autonomous_robotics_ros/src/turtlebot/setup_kobuki.sh old mode 100755 new mode 100644 similarity index 93% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/setup_kobuki.sh rename to autonomous_robotics_ros/src/turtlebot/setup_kobuki.sh index a50483a..e21f154 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/setup_kobuki.sh +++ b/autonomous_robotics_ros/src/turtlebot/setup_kobuki.sh @@ -9,5 +9,5 @@ export TURTLEBOT_BASE=kobuki export TURTLEBOT_STACKS=hexagons -export TURTLEBOT_3D_SENSOR=radar +export TURTLEBOT_3D_SENSOR=kinect export TURTLEBOT_SIMULATION=false diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot.rosinstall b/autonomous_robotics_ros/src/turtlebot/turtlebot.rosinstall new file mode 100644 index 0000000..c9edc1e --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot.rosinstall @@ -0,0 +1,81 @@ +############################################################################## +# +# Source installation instructions at: +# +# http://www.ros.org/wiki/turtlebot/Tutorials/hydro/Source%20Installation +# +############################################################################## + +# Make sure to install these ROCON packages as well: +# https://raw.github.com/robotics-in-concert/rocon/indigo/rocon_app_platform.rosinstall + +# Kobuki / Yujin stacks + +- git: + uri: https://github.com/yujinrobot/kobuki_desktop.git + local-name: kobuki_desktop + version: indigo + +- git: + uri: https://github.com/yujinrobot/yocs_msgs.git + local-name: yocs_msgs + version: indigo + +- git: + uri: https://github.com/yujinrobot/yujin_ocs.git + local-name: yujin_ocs + version: indigo + +- git: + uri: https://github.com/yujinrobot/kobuki_msgs.git + local-name: kobuki_msgs + version: indigo + +- git: + uri: https://github.com/yujinrobot/kobuki_core.git + local-name: kobuki_core + version: indigo + +- git: + uri: https://github.com/yujinrobot/kobuki.git + local-name: kobuki + version: indigo + +# Create stacks + +- git: + uri: https://github.com/turtlebot/turtlebot_create.git + local-name: turtlebot_create + version: indigo + +- git: + uri: https://github.com/turtlebot/turtlebot_create_desktop.git + local-name: turtlebot_create_desktop + version: indigo + +# Turtlebot stacks + +- git: + uri: https://github.com/turtlebot/turtlebot_msgs.git + local-name: turtlebot_msgs + version: indigo + +- git: + uri: https://github.com/turtlebot/turtlebot.git + local-name: turtlebot + version: indigo + +- git: + uri: https://github.com/turtlebot/turtlebot_simulator.git + local-name: turtlebot_simulator + version: indigo + +- git: + uri: https://github.com/turtlebot/turtlebot_apps.git + local-name: turtlebot_apps + version: indigo + +- git: + uri: https://github.com/turtlebot/turtlebot_interactions.git + local-name: turtlebot_interactions + version: indigo diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/.cproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/.cproject diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot/.project old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot/.project diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot/CHANGELOG.rst diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot/CMakeLists.txt diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/package.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/package.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml deleted file mode 100755 index 7f0d480..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch deleted file mode 100755 index f65342c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae deleted file mode 100755 index ad935ef..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae +++ /dev/null @@ -1,173 +0,0 @@ - - - - - DesignK - OpenCOLLADA for 3ds Max; Version: 1.4.1; Revision: exported; Platform: x64; Configuration: Release_Max2011_static - xtionpro_pole.max - - 2015-03-16T14:24:59 - 2015-03-16T14:24:59 - - Z_UP - - - - - - - xtion_pro_jpg - - - - - xtion_pro_jpg-surface - - - - - - 0 0 0 1 - - - 0.5882353 0.5882353 0.5882353 1 - - - - - - 0.9 0.9 0.9 1 - - - 0 - - - 0 0 0 1 - - - 1 1 1 1 - - - 1 - - - - - - - - 0 - 0 - 0 - 1.5 - 0 - 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- - - - - - - - - 0 0 0 - - - - - - - xtion_pro.jpg - - - - - - - - - -1 0 0 -90 - - - - - - - - - - - - 1 - 1 - 1 - 1 - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface deleted file mode 100755 index cc67261..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface +++ /dev/null @@ -1,7 +0,0 @@ -publishers: - - camera/rgb/image_color/compressed_throttle -subscribers: [] -services: - - turtlebot_follower/change_state -action_clients: [] -action_servers: [] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch deleted file mode 100755 index 8a29b78..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp deleted file mode 100755 index e3cd139..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp +++ /dev/null @@ -1,21 +0,0 @@ -display: Follower -description: Take the TurtleBot for a stroll. TurtleBot will follow whatever is in front of it. -compatibility: rocon:/turtlebot -launch: turtlebot_follower/follower.launch -public_interface: turtlebot_rapps/follower.interface -icon: turtlebot_rapps/follower_bubble_icon.png -#required_capabilities: -# - name: 'std_capabilities/DifferentialMobileBase' -# interface: -# topics: -# requires: -# '/cmd_vel': 'turtlebot_follower/cmd_vel' -# provides: -# '/odom': 'teleop_velocity_smoother/odometry' -# - name: 'std_capabilities/RGBDSensor' -# interface: -# topics: -# requires: -# [] -# provides: -# '/rgbd_sensor/depth_registered/points': 'depth/points' diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png deleted file mode 100755 index 1045ff6..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.cproject deleted file mode 100755 index 6988478..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore deleted file mode 100755 index 8fcc290..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/bin -/msg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst deleted file mode 100755 index 183b7a4..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst +++ /dev/null @@ -1,67 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_actions -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.7 (2016-11-01) ------------------- - -2.3.6 (2016-06-29) ------------------- - -2.3.5 (2016-06-28) ------------------- - -2.3.4 (2016-06-28) ------------------- - -2.3.3 (2015-03-23) ------------------- - -2.3.2 (2015-01-21) ------------------- - -2.3.1 (2014-12-30) ------------------- - -2.3.0 (2014-12-30) ------------------- -* Change build commands to fix break caused by Eigen package moving to cmake_modules -* find eigen with cmake_modules, fixes `#88 `_. -* update matrix types for image_geometry api change, `#87 `_. -* Contributors: Daniel Stonier, Paul Bouchier - -2.2.4 (2013-10-14) ------------------- - -2.2.3 (2013-09-27) ------------------- - -2.2.2 (2013-09-26) ------------------- - -2.2.1 (2013-09-23) ------------------- - -2.2.0 (2013-08-30) ------------------- -* Add bugtracker and repo info URLs. -* Rename include launchers to *.launch.xml. -* Changelogs at package level. -* Do not use deprecated action server API. - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-08-09) ------------------- - -2.1.0 (2013-07-19) ------------------- -* Catkinized -* Set OSRF as maintainer - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_apps/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt deleted file mode 100755 index d365eff..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt +++ /dev/null @@ -1,70 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_actions) - -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS cmake_modules roscpp actionlib actionlib_msgs geometry_msgs message_generation tf cv_bridge image_transport image_geometry) -find_package(Boost REQUIRED COMPONENTS system) -find_package(cmake_modules REQUIRED) -find_package(Eigen REQUIRED) -find_package(OpenCV REQUIRED) - -include_directories(include ${Boost_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS}) - -# actions -add_action_files( - DIRECTORY action - FILES FindFiducial.action - TurtlebotMove.action -) - -## Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES - actionlib_msgs - std_msgs - geometry_msgs -) - -# building c++ executables and libraries -add_executable(turtlebot_move_action_server src/turtlebot_move_action_server.cpp) -target_link_libraries(turtlebot_move_action_server ${Boost_LIBRARIES} ${catkin_LIBRARIES}) -add_dependencies(turtlebot_move_action_server turtlebot_actions_gencpp) - -add_executable(find_fiducial_pose src/find_fiducial_pose.cpp src/detect_calibration_pattern.cpp) -target_link_libraries(find_fiducial_pose ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) -add_dependencies(find_fiducial_pose turtlebot_actions_gencpp) - - -# what other packages will need to use this package -catkin_package( - DEPENDS eigen opencv - CATKIN_DEPENDS roscpp actionlib actionlib_msgs geometry_msgs message_runtime tf cv_bridge image_transport image_geometry turtlebot_bringup - INCLUDE_DIRS include -) - - -############# -## Install ## -############# - -## Mark executables and/or libraries for installation -install(TARGETS turtlebot_move_action_server find_fiducial_pose - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## Mark cpp header files for installation -install(DIRECTORY include - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -## Mark executable scripts (Python etc.) for installation -install(PROGRAMS scripts/test_fiducial.py - scripts/test_move.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action deleted file mode 100755 index 9891402..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action +++ /dev/null @@ -1,16 +0,0 @@ -#goal definition -uint8 CHESSBOARD = 1 -uint8 CIRCLES_GRID = 2 -uint8 ASYMMETRIC_CIRCLES_GRID =3 - -string camera_name # name of the camera -uint8 pattern_width # number of objects across -uint8 pattern_height # number of objects down -float32 pattern_size # size the object pattern (square size or circle size) -uint8 pattern_type # type of pattern (CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID) ---- -#result definition -geometry_msgs/PoseStamped pose ---- -#feedback - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action deleted file mode 100755 index 6cfe31b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action +++ /dev/null @@ -1,11 +0,0 @@ -#goal definition -float32 turn_distance # in radians, ccw = +, cw = - -float32 forward_distance # in meters, forward = +, backward = - ---- -#result definition -float32 turn_distance -float32 forward_distance ---- -#feedback -float32 turn_distance -float32 forward_distance diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h deleted file mode 100755 index 58790ba..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h +++ /dev/null @@ -1,59 +0,0 @@ -#ifndef _DETECT_CALIBRATION_PATTERN_ -#define _DETECT_CALIBRATION_PATTERN_ - -#include -#include -#include -#include -#include - -#include -#include -#include - -#include -#include - -using namespace std; - -enum Pattern -{ - CHESSBOARD = 1, CIRCLES_GRID = 2, ASYMMETRIC_CIRCLES_GRID = 3 -}; - -typedef std::vector object_pts_t; -typedef std::vector observation_pts_t; - -void convertCVtoEigen(cv::Mat& tvec, cv::Mat& R, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation); - -class PatternDetector -{ - public: - PatternDetector() { } - - static object_pts_t calcChessboardCorners(cv::Size boardSize, - float squareSize, - Pattern patternType = CHESSBOARD, - cv::Point3f offset = cv::Point3f()); - - int detectPattern(cv::Mat& inm, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation); - - void setCameraMatrices(cv::Matx33d K_, cv::Matx33d D_); - - void setPattern(cv::Size grid_size_, float square_size_, - Pattern pattern_type_, cv::Point3f offset_ = cv::Point3f()); - - public: - cv::Matx33d K; - cv::Matx33d D; - cv::Mat rvec, tvec, R; - - // Do we need to store anything but type and ideal points? - // Who knows! - Pattern pattern_type; - cv::Size grid_size; - float square_size; - object_pts_t ideal_points; -}; - -#endif diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch deleted file mode 100755 index 1310c1b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch deleted file mode 100755 index 9470863..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml deleted file mode 100755 index 22dd9df..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch deleted file mode 100755 index 57a7475..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch deleted file mode 100755 index e78219a..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/package.xml deleted file mode 100755 index dd3f519..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/package.xml +++ /dev/null @@ -1,41 +0,0 @@ - - turtlebot_actions - 2.3.7 - - turtlebot_actions provides several basic actionlib actions for the TurtleBot. - - OSRF - BSD - http://ros.org/wiki/turtlebot_actions - https://github.com/turtlebot/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps/issues - Helen Oleynikova - Melonee Wise - - catkin - - cmake_modules - roscpp - actionlib - actionlib_msgs - cmake_modules - geometry_msgs - message_generation - tf - cv_bridge - eigen - image_transport - image_geometry - - roscpp - actionlib - actionlib_msgs - geometry_msgs - message_runtime - tf - cv_bridge - eigen - image_transport - image_geometry - turtlebot_bringup - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py deleted file mode 100755 index c188498..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python -import roslib -roslib.load_manifest('turtlebot_actions') - -import rospy - -import os -import sys -import time - -from turtlebot_actions.msg import * -from actionlib_msgs.msg import * - - -import actionlib - - -def main(): - rospy.init_node("find_fiducial_pose_test") - - # Construct action ac - rospy.loginfo("Starting action client...") - action_client = actionlib.SimpleActionClient('find_fiducial_pose', FindFiducialAction) - action_client.wait_for_server() - rospy.loginfo("Action client connected to action server.") - - # Call the action - rospy.loginfo("Calling the action server...") - action_goal = FindFiducialGoal() - action_goal.camera_name = "/camera/rgb" - action_goal.pattern_width = 7 - action_goal.pattern_height = 6 - action_goal.pattern_size = 0.027 - action_goal.pattern_type = 1 # CHESSBOARD - - if action_client.send_goal_and_wait(action_goal, rospy.Duration(50.0), rospy.Duration(50.0)) == GoalStatus.SUCCEEDED: - rospy.loginfo('Call to action server succeeded') - else: - rospy.logerr('Call to action server failed') - - -if __name__ == "__main__": - main() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py deleted file mode 100755 index b267c3b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python -import roslib -roslib.load_manifest('turtlebot_actions') - -import rospy - -import os -import sys -import time -import math -from turtlebot_actions.msg import * -from actionlib_msgs.msg import * - - -import actionlib - -''' - Very simple move action test - commands the robot to turn 45 degrees and travel 0.5 metres forward. -''' - -def main(): - rospy.init_node("test_move_action_client") - - # Construct action ac - rospy.loginfo("Starting action client...") - action_client = actionlib.SimpleActionClient('turtlebot_move', TurtlebotMoveAction) - action_client.wait_for_server() - rospy.loginfo("Action client connected to action server.") - - # Call the action - rospy.loginfo("Calling the action server...") - action_goal = TurtlebotMoveGoal() - action_goal.turn_distance = -math.pi/4.0 - action_goal.forward_distance = 0.5 # metres - - if action_client.send_goal_and_wait(action_goal, rospy.Duration(50.0), rospy.Duration(50.0)) == GoalStatus.SUCCEEDED: - rospy.loginfo('Call to action server succeeded') - else: - rospy.logerr('Call to action server failed') - - -if __name__ == "__main__": - main() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore deleted file mode 100755 index 27a3c2b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/turtlebot_actions diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp deleted file mode 100755 index 073c4f8..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp +++ /dev/null @@ -1,107 +0,0 @@ -#include - -void PatternDetector::setCameraMatrices(cv::Matx33d K_, cv::Matx33d D_) -{ - K = K_; - D = D_; -} - -void PatternDetector::setPattern(cv::Size grid_size_, float square_size_, - Pattern pattern_type_, cv::Point3f offset_) -{ - ideal_points = calcChessboardCorners(grid_size_, square_size_, pattern_type_, offset_); - pattern_type = pattern_type_; - grid_size = grid_size_; - square_size = square_size_; -} - -object_pts_t PatternDetector::calcChessboardCorners(cv::Size boardSize, - float squareSize, - Pattern patternType, - cv::Point3f offset) -{ - object_pts_t corners; - switch (patternType) - { - case CHESSBOARD: - case CIRCLES_GRID: - for (int i = 0; i < boardSize.height; i++) - for (int j = 0; j < boardSize.width; j++) - corners.push_back( - cv::Point3f(float(j * squareSize), - float(i * squareSize), 0) + offset); - break; - case ASYMMETRIC_CIRCLES_GRID: - for (int i = 0; i < boardSize.height; i++) - for (int j = 0; j < boardSize.width; j++) - corners.push_back( - cv::Point3f(float(i * squareSize), - float((2 * j + i % 2) * squareSize), 0) + offset); - break; - default: - std::logic_error("Unknown pattern type."); - } - return corners; -} - - - -int PatternDetector::detectPattern(cv::Mat& inm, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation) -{ - translation.setZero(); - orientation.setIdentity(); - - bool found = false; - - observation_pts_t observation_points; - - switch (pattern_type) - { - case ASYMMETRIC_CIRCLES_GRID: - found = cv::findCirclesGrid(inm, grid_size, observation_points, - cv::CALIB_CB_ASYMMETRIC_GRID | cv::CALIB_CB_CLUSTERING); - break; - case CHESSBOARD: - found = cv::findChessboardCorners(inm, grid_size, observation_points, cv::CALIB_CB_ADAPTIVE_THRESH); - break; - case CIRCLES_GRID: - found = cv::findCirclesGrid(inm, grid_size, observation_points, cv::CALIB_CB_SYMMETRIC_GRID); - break; - } - - if(found) - { - // Do subpixel ONLY IF THE PATTERN IS A CHESSBOARD - if (pattern_type == CHESSBOARD) - { - cv::cornerSubPix(inm, observation_points, cv::Size(5,5), cv::Size(-1,-1), - cv::TermCriteria(cv::TermCriteria::MAX_ITER + cv::TermCriteria::EPS, 100, 0.01)); - } - - cv::solvePnP(cv::Mat(ideal_points), cv::Mat(observation_points), K, D, - rvec, tvec, false); - cv::Rodrigues(rvec, R); //take the 3x1 rotation representation to a 3x3 rotation matrix. - - cv::drawChessboardCorners(inm, grid_size, cv::Mat(observation_points), found); - - convertCVtoEigen(tvec, R, translation, orientation); - } - - return found; -} - -void convertCVtoEigen(cv::Mat& tvec, cv::Mat& R, Eigen::Vector3f& translation, Eigen::Quaternionf& orientation) -{ - // This assumes that cv::Mats are stored as doubles. Is there a way to check this? - // Since it's templated... - translation = Eigen::Vector3f(tvec.at(0,0), tvec.at(0,1), tvec.at(0, 2)); - - Eigen::Matrix3f Rmat; - Rmat << R.at(0,0), R.at(0,1), R.at(0,2), - R.at(1,0), R.at(1,1), R.at(1,2), - R.at(2,0), R.at(2,1), R.at(2,2); - - orientation = Eigen::Quaternionf(Rmat); - -} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp deleted file mode 100755 index ad5764c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp +++ /dev/null @@ -1,195 +0,0 @@ -/********************************************************************* - * Software License Agreement (BSD License) - * - * Copyright (c) 2008, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - **********************************************************************/ - -/* Author: Melonee Wise */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "turtlebot_actions/FindFiducialAction.h" -#include "turtlebot_actions/detect_calibration_pattern.h" - -class FindFiducialAction -{ -public: - - FindFiducialAction(std::string name) : - as_(nh_, name, true), - action_name_(name), - it_(nh_) - { - //register the goal and feeback callbacks - as_.registerGoalCallback(boost::bind(&FindFiducialAction::goalCB, this)); - as_.registerPreemptCallback(boost::bind(&FindFiducialAction::preemptCB, this)); - - } - - ~FindFiducialAction(void) - { - } - - void goalCB() - { - ROS_INFO("%s: Received new goal", action_name_.c_str()); - - typedef boost::shared_ptr GoalPtr; - GoalPtr goal = as_.acceptNewGoal(); - - cv::Size grid_size(goal->pattern_width,goal->pattern_height); - detector_.setPattern(grid_size, goal->pattern_size, Pattern(goal->pattern_type)); - - ros::Duration(1.0).sleep(); - //subscribe to the image topic of interest - std::string image_topic = goal->camera_name + "/image_rect_mono"; - sub_ = it_.subscribeCamera(image_topic, 1, &FindFiducialAction::detectCB, this); - - pub_timer_ = nh_.createTimer(tf_listener_.getCacheLength() - ros::Duration(1.0), boost::bind(&FindFiducialAction::timeoutCB, this, _1),true); - } - - void timeoutCB(const ros::TimerEvent& e) - { - if(sub_.getNumPublishers() == 0) - ROS_INFO("%s: Aborted, there are no publishers on goal topic.", action_name_.c_str()); - else - ROS_INFO("%s: Aborted, there are publishers on goal topic, but detection took too long.", action_name_.c_str()); - - sub_.shutdown(); - as_.setAborted(); - } - - void preemptCB() - { - ROS_INFO("%s: Preempted", action_name_.c_str()); - // set the action state to preempted - pub_timer_.stop(); - as_.setPreempted(); - sub_.shutdown(); - } - - void detectCB(const sensor_msgs::ImageConstPtr& image_msg, const sensor_msgs::CameraInfoConstPtr& info_msg) - { - // make sure that the action is active - if (!as_.isActive()) - return; - - ROS_INFO("%s: Received image, performing detection", action_name_.c_str()); - // Convert image message - - try - { - img_bridge_ = cv_bridge::toCvCopy(image_msg, "mono8"); - } - catch (cv_bridge::Exception& ex) - { - ROS_ERROR("[calibrate] Failed to convert image"); - return; - } - - - ROS_INFO("%s: created cv::Mat", action_name_.c_str()); - cam_model_.fromCameraInfo(info_msg); - detector_.setCameraMatrices(cam_model_.intrinsicMatrix(), cam_model_.distortionCoeffs()); - - Eigen::Vector3f translation; - Eigen::Quaternionf orientation; - - if (detector_.detectPattern(img_bridge_->image, translation, orientation)) - { - ROS_INFO("detected fiducial"); - tf::Transform fiducial_transform; - fiducial_transform.setOrigin( tf::Vector3(translation.x(), translation.y(), translation.z()) ); - fiducial_transform.setRotation( tf::Quaternion(orientation.x(), orientation.y(), orientation.z(), orientation.w()) ); - - tf::StampedTransform fiducial_transform_stamped(fiducial_transform, image_msg->header.stamp, cam_model_.tfFrame(), "fiducial_frame"); - tf_broadcaster_.sendTransform(fiducial_transform_stamped); - - tf::Pose fiducial_pose; - fiducial_pose.setRotation(tf::Quaternion(0, 0, 0, 1.0)); - fiducial_pose = fiducial_transform * fiducial_pose; - tf::Stamped fiducial_pose_stamped(fiducial_pose, image_msg->header.stamp, cam_model_.tfFrame()); - - tf::poseStampedTFToMsg(fiducial_pose_stamped, result_.pose); - as_.setSucceeded(result_); - pub_timer_.stop(); - sub_.shutdown(); - } - - } - -protected: - - ros::NodeHandle nh_; - actionlib::SimpleActionServer as_; - std::string action_name_; - PatternDetector detector_; - - image_transport::ImageTransport it_; - image_transport::CameraSubscriber sub_; - cv_bridge::CvImagePtr img_bridge_; - image_geometry::PinholeCameraModel cam_model_; - - tf::TransformListener tf_listener_; - tf::TransformBroadcaster tf_broadcaster_; - - ros::Timer pub_timer_; - - // create messages that are used to published feedback/result - turtlebot_actions::FindFiducialFeedback feedback_; - turtlebot_actions::FindFiducialResult result_; - - -}; - - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "find_fiducial_pose"); - - FindFiducialAction find_fiducial(ros::this_node::getName()); - ros::spin(); - - return 0; -} - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp deleted file mode 100755 index 15b81b6..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp +++ /dev/null @@ -1,278 +0,0 @@ -/* - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - - -#include -#include -#include -#include -#include -#include -#include - -class MoveActionServer -{ -private: - - ros::NodeHandle nh_; - actionlib::SimpleActionServer as_; - std::string action_name_; - - turtlebot_actions::TurtlebotMoveFeedback feedback_; - turtlebot_actions::TurtlebotMoveResult result_; - turtlebot_actions::TurtlebotMoveGoalConstPtr goal_; - - ros::Subscriber sub_; - ros::Publisher cmd_vel_pub_; - tf::TransformListener listener_; - - // Parameters - std::string base_frame; - std::string odom_frame; - double turn_rate; - double forward_rate; - -public: - MoveActionServer(const std::string name) : - nh_("~"), as_(nh_, name, false), action_name_(name) - { - // Get parameters - nh_.param("base_frame", base_frame, "base_link"); - nh_.param("odom_frame", odom_frame, "odom"); - nh_.param("turn_rate", turn_rate, 0.75); - nh_.param("forward_rate", forward_rate, 0.25); - - //register the goal and feeback callbacks - as_.registerGoalCallback(boost::bind(&MoveActionServer::goalCB, this)); - as_.registerPreemptCallback(boost::bind(&MoveActionServer::preemptCB, this)); - - as_.start(); - - cmd_vel_pub_ = nh_.advertise("cmd_vel", 1); - } - - void goalCB() - { - // accept the new goal - feedback_.forward_distance = 0.0; - feedback_.turn_distance = 0.0; - - result_.forward_distance = 0.0; - result_.turn_distance = 0.0; - - goal_ = as_.acceptNewGoal(); - - if (!turnOdom(goal_->turn_distance)) - { - as_.setAborted(result_); - return; - } - - if (driveForwardOdom(goal_->forward_distance)) - as_.setSucceeded(result_); - else - as_.setAborted(result_); - } - - void preemptCB() - { - ROS_INFO("%s: Preempted", action_name_.c_str()); - // set the action state to preempted - as_.setPreempted(); - } - - bool driveForwardOdom(double distance) - { - // If the distance to travel is negligble, don't even try. - if (fabs(distance) < 0.01) - return true; - - //we will record transforms here - tf::StampedTransform start_transform; - tf::StampedTransform current_transform; - - try - { - //wait for the listener to get the first message - listener_.waitForTransform(base_frame, odom_frame, - ros::Time::now(), ros::Duration(1.0)); - - //record the starting transform from the odometry to the base frame - listener_.lookupTransform(base_frame, odom_frame, - ros::Time(0), start_transform); - } - catch (tf::TransformException ex) - { - ROS_ERROR("%s",ex.what()); - return false; - } - - //we will be sending commands of type "twist" - geometry_msgs::Twist base_cmd; - //the command will be to go forward at 0.25 m/s - base_cmd.linear.y = base_cmd.angular.z = 0; - base_cmd.linear.x = forward_rate; - - if (distance < 0) - base_cmd.linear.x = -base_cmd.linear.x; - - ros::Rate rate(25.0); - bool done = false; - while (!done && nh_.ok() && as_.isActive()) - { - //send the drive command - cmd_vel_pub_.publish(base_cmd); - rate.sleep(); - //get the current transform - try - { - listener_.lookupTransform(base_frame, odom_frame, - ros::Time(0), current_transform); - } - catch (tf::TransformException ex) - { - ROS_ERROR("%s",ex.what()); - break; - } - //see how far we've traveled - tf::Transform relative_transform = - start_transform.inverse() * current_transform; - double dist_moved = relative_transform.getOrigin().length(); - - // Update feedback and result. - feedback_.forward_distance = dist_moved; - result_.forward_distance = dist_moved; - as_.publishFeedback(feedback_); - - if(fabs(dist_moved) > fabs(distance)) - { - done = true; - } - } - base_cmd.linear.x = 0.0; - base_cmd.angular.z = 0.0; - cmd_vel_pub_.publish(base_cmd); - - if (done) return true; - return false; - } - - bool turnOdom(double radians) - { - // If the distance to travel is negligble, don't even try. - if (fabs(radians) < 0.01) - return true; - - while(radians < -M_PI) radians += 2*M_PI; - while(radians > M_PI) radians -= 2*M_PI; - - //we will record transforms here - tf::StampedTransform start_transform; - tf::StampedTransform current_transform; - - try - { - //wait for the listener to get the first message - listener_.waitForTransform(base_frame, odom_frame, - ros::Time::now(), ros::Duration(1.0)); - - //record the starting transform from the odometry to the base frame - listener_.lookupTransform(base_frame, odom_frame, - ros::Time(0), start_transform); - } - catch (tf::TransformException ex) - { - ROS_ERROR("%s",ex.what()); - return false; - } - - //we will be sending commands of type "twist" - geometry_msgs::Twist base_cmd; - //the command will be to turn at 0.75 rad/s - base_cmd.linear.x = base_cmd.linear.y = 0.0; - base_cmd.angular.z = turn_rate; - if (radians < 0) - base_cmd.angular.z = -turn_rate; - - //the axis we want to be rotating by - tf::Vector3 desired_turn_axis(0,0,1); - - ros::Rate rate(25.0); - bool done = false; - while (!done && nh_.ok() && as_.isActive()) - { - //send the drive command - cmd_vel_pub_.publish(base_cmd); - rate.sleep(); - //get the current transform - try - { - listener_.lookupTransform(base_frame, odom_frame, - ros::Time(0), current_transform); - } - catch (tf::TransformException ex) - { - ROS_ERROR("%s",ex.what()); - break; - } - tf::Transform relative_transform = - start_transform.inverse() * current_transform; - tf::Vector3 actual_turn_axis = - relative_transform.getRotation().getAxis(); - double angle_turned = relative_transform.getRotation().getAngle(); - - // Update feedback and result. - feedback_.turn_distance = angle_turned; - result_.turn_distance = angle_turned; - as_.publishFeedback(feedback_); - - if ( fabs(angle_turned) < 1.0e-2) continue; - - //if ( actual_turn_axis.dot( desired_turn_axis ) < 0 ) - // angle_turned = 2 * M_PI - angle_turned; - - if (fabs(angle_turned) > fabs(radians)) done = true; - } - if (done) return true; - return false; - } - - -}; - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "turtlebot_move_action_server"); - - MoveActionServer server("turtlebot_move"); - ros::spin(); - - return 0; -} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.cproject deleted file mode 100755 index 3575647..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst deleted file mode 100755 index 3f074d2..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst +++ /dev/null @@ -1,69 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_apps -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.7 (2016-11-01) ------------------- - -2.3.6 (2016-06-29) ------------------- - -2.3.5 (2016-06-28) ------------------- -* removing unnecessary dependencies -* Contributors: Tully Foote - -2.3.4 (2016-06-28) ------------------- -* disabling turtlebot_panorama due to it not compiling -* Contributors: Tully Foote - -2.3.3 (2015-03-23) ------------------- - -2.3.2 (2015-01-21) ------------------- - -2.3.1 (2014-12-30) ------------------- -* remove turtlebot_telop from meta package -* Contributors: Jihoon Lee - -2.3.0 (2014-12-30) ------------------- -* turtlebot_core_apps -> turtlebot_rapps, `#86 `_ -* Contributors: Daniel Stonier - -2.2.4 (2013-10-14) ------------------- - -2.2.3 (2013-09-27) ------------------- - -2.2.2 (2013-09-26) ------------------- - -2.2.1 (2013-09-23) ------------------- - -2.2.0 (2013-08-30) ------------------- -* Changelogs at package level. - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-08-09) ------------------- -* Remove our beloved chirp app. Don't worry; it's now included on rocon_apps - -2.1.0 (2013-07-19) ------------------- -* Catkinized -* Needs to specify any individual panorama packages. Release complains if not - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_apps/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt deleted file mode 100755 index 3be15a0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_apps) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/package.xml deleted file mode 100755 index a4fd6d7..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - turtlebot_apps - 2.3.7 - - turtlebot_apps is a group of simple demos and exmaples to run on your TurtleBot to help you get started with ROS and TurtleBot. - - - Daniel Stonier - Tully Foote - Melonee Wise - - BSD - http://ros.org/wiki/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps/issues - - catkin - - turtlebot_actions - turtlebot_calibration - turtlebot_rapps - turtlebot_follower - turtlebot_navigation - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject deleted file mode 100755 index f72814b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore deleted file mode 100755 index 5cb9637..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/bin -/lib diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst deleted file mode 100755 index 388b80c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst +++ /dev/null @@ -1,63 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_calibration -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.7 (2016-11-01) ------------------- - -2.3.6 (2016-06-29) ------------------- - -2.3.5 (2016-06-28) ------------------- - -2.3.4 (2016-06-28) ------------------- - -2.3.3 (2015-03-23) ------------------- - -2.3.2 (2015-01-21) ------------------- - -2.3.1 (2014-12-30) ------------------- - -2.3.0 (2014-12-30) ------------------- -* Merge pull request `#83 `_ from kbogert/hydro-devel - Implement automatic calibration system -* Contributors: Jihoon Lee - -2.2.4 (2013-10-14) ------------------- - -2.2.3 (2013-09-27) ------------------- - -2.2.2 (2013-09-26) ------------------- - -2.2.1 (2013-09-23) ------------------- - -2.2.0 (2013-08-30) ------------------- -* Add bugtracker and repo info URLs. -* Changelogs at package level. - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-08-09) ------------------- - -2.1.0 (2013-07-19) ------------------- -* Catkinized - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_apps/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt deleted file mode 100755 index 7f50a71..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_calibration) - -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS std_msgs message_generation) - -# Messages -add_message_files( - FILES ScanAngle.msg -) - -# Generate added messages and services with any dependencies listed here -generate_messages( - DEPENDENCIES std_msgs -) - -# What other packages will need to use this package -catkin_package( - CATKIN_DEPENDS std_msgs message_runtime -) - -# Mark executable scripts (Python etc.) for installation -install(PROGRAMS src/turtlebot_calibration/calibrate.py - src/turtlebot_calibration/scan_to_angle.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch deleted file mode 100755 index 610c0e5..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg deleted file mode 100755 index 0385066..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg +++ /dev/null @@ -1,2 +0,0 @@ -Header header -float64 scan_angle \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml deleted file mode 100755 index 58ab283..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml +++ /dev/null @@ -1,30 +0,0 @@ - - turtlebot_calibration - 2.3.7 - turtlebot_calibration - OSRF - BSD - http://ros.org/wiki/turtlebot_calibration - https://github.com/turtlebot/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps/issues - Wim Meeussen - - catkin - - rospy - std_msgs - sensor_msgs - nav_msgs - geometry_msgs - message_generation - python_orocos_kdl - - rospy - std_msgs - sensor_msgs - nav_msgs - geometry_msgs - message_runtime - python_orocos_kdl - turtlebot_bringup - \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore deleted file mode 100755 index 45a522a..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/msg -/__init__.py diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py deleted file mode 100755 index 579a94d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py +++ /dev/null @@ -1,334 +0,0 @@ -#! /usr/bin/python -#*********************************************************** -# Software License Agreement (BSD License) -# -# Copyright (c) 2008, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of the Willow Garage nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# - -# Author: Wim Meeussen - -from __future__ import with_statement - -import roslib; roslib.load_manifest('turtlebot_calibration') -import yaml -import PyKDL -import rospy -from sensor_msgs.msg import Imu -from nav_msgs.msg import Odometry -from geometry_msgs.msg import Twist -from turtlebot_calibration.msg import ScanAngle -from math import * -import threading -import dynamic_reconfigure.client -import os -import subprocess -import yaml - -def quat_to_angle(quat): - rot = PyKDL.Rotation.Quaternion(quat.x, quat.y, quat.z, quat.w) - return rot.GetRPY()[2] - -def normalize_angle(angle): - res = angle - while res > pi: - res -= 2.0*pi - while res < -pi: - res += 2.0*pi - return res - - -class CalibrateRobot: - def __init__(self): - self.lock = threading.Lock() - - self.has_gyro = rospy.get_param("turtlebot_node/has_gyro") - rospy.loginfo('has_gyro %s'%self.has_gyro) - if self.has_gyro: - self.sub_imu = rospy.Subscriber('imu', Imu, self.imu_cb) - - self.sub_odom = rospy.Subscriber('odom', Odometry, self.odom_cb) - self.sub_scan = rospy.Subscriber('scan_angle', ScanAngle, self.scan_cb) - self.cmd_pub = rospy.Publisher('cmd_vel', Twist) - self.imu_time = rospy.Time() - self.odom_time = rospy.Time() - self.scan_time = rospy.Time() - - # params - self.inital_wall_angle = rospy.get_param("inital_wall_angle", 0.1) - self.imu_calibrate_time = rospy.get_param("imu_calibrate_time", 10.0) - self.imu_angle = 0 - self.imu_time = rospy.Time.now() - self.scan_angle = 0 - self.scan_time = rospy.Time.now() - self.odom_angle = 0 - self.odom_time = rospy.Time.now() - - def calibrate(self, speed, imu_drift=0): - # rotate 360 degrees - (imu_start_angle, odom_start_angle, scan_start_angle, - imu_start_time, odom_start_time, scan_start_time) = self.sync_timestamps() - last_angle = odom_start_angle - turn_angle = 0 - while turn_angle < 2*pi: - if rospy.is_shutdown(): - return - cmd = Twist() - cmd.angular.z = speed - self.cmd_pub.publish(cmd) - rospy.sleep(0.1) - with self.lock: - delta_angle = normalize_angle(self.odom_angle - last_angle) - turn_angle += delta_angle - last_angle = self.odom_angle - self.cmd_pub.publish(Twist()) - - (imu_end_angle, odom_end_angle, scan_end_angle, - imu_end_time, odom_end_time, scan_end_time) = self.sync_timestamps() - - scan_delta = 2*pi + normalize_angle(scan_end_angle - scan_start_angle) - - odom_delta = 2*pi + normalize_angle(odom_end_angle - odom_start_angle) - rospy.loginfo('Odom error: %f percent'%(100.0*((odom_delta/scan_delta)-1.0))) - - if self.has_gyro: - imu_delta = 2*pi + normalize_angle(imu_end_angle - imu_start_angle) - imu_drift*(imu_end_time - imu_start_time).to_sec() - rospy.loginfo('Imu error: %f percent'%(100.0*((imu_delta/scan_delta)-1.0))) - imu_result = imu_delta/scan_delta - else: - imu_result = None - - return (imu_result, odom_delta/scan_delta) - - - def imu_drift(self): - if not self.has_gyro: - return 0 - # estimate imu drift - rospy.loginfo('Estimating imu drift') - (imu_start_angle, odom_start_angle, scan_start_angle, - imu_start_time, odom_start_time, scan_start_time) = self.sync_timestamps() - rospy.sleep(self.imu_calibrate_time) - (imu_end_angle, odom_end_angle, scan_end_angle, - imu_end_time, odom_end_time, scan_end_time) = self.sync_timestamps() - - imu_drift = normalize_angle(imu_end_angle - imu_start_angle) / ((imu_end_time - imu_start_time).to_sec()) - rospy.loginfo(' ... imu drift is %f degrees per second'%(imu_drift*180.0/pi)) - return imu_drift - - - def align(self): - self.sync_timestamps() - rospy.loginfo("Aligning base with wall") - with self.lock: - angle = self.scan_angle - cmd = Twist() - - while angle < -self.inital_wall_angle or angle > self.inital_wall_angle: - if rospy.is_shutdown(): - exit(0) - if angle > 0: - cmd.angular.z = -0.3 - else: - cmd.angular.z = 0.3 - self.cmd_pub.publish(cmd) - rospy.sleep(0.05) - with self.lock: - angle = self.scan_angle - - - - def sync_timestamps(self, start_time=None): - if not start_time: - start_time = rospy.Time.now() + rospy.Duration(0.5) - while not rospy.is_shutdown(): - rospy.sleep(0.3) - with self.lock: - if self.imu_time < start_time and self.has_gyro: - rospy.loginfo("Still waiting for imu") - elif self.odom_time < start_time: - rospy.loginfo("Still waiting for odom") - elif self.scan_time < start_time: - rospy.loginfo("Still waiting for scan") - else: - return (self.imu_angle, self.odom_angle, self.scan_angle, - self.imu_time, self.odom_time, self.scan_time) - exit(0) - - - def imu_cb(self, msg): - with self.lock: - angle = quat_to_angle(msg.orientation) - self.imu_angle = angle - self.imu_time = msg.header.stamp - - def odom_cb(self, msg): - with self.lock: - angle = quat_to_angle(msg.pose.pose.orientation) - self.odom_angle = angle - self.odom_time = msg.header.stamp - - def scan_cb(self, msg): - with self.lock: - angle = msg.scan_angle - self.scan_angle = angle - self.scan_time = msg.header.stamp - -def get_usb_to_serial_id(): - usbpath = subprocess.check_output("readlink -f /sys/class/tty/ttyUSB0", shell=True) - usbpath = usbpath.strip() - if len(usbpath) == 0: - return None - serialid = "" - try: - f = open(usbpath + "/../../../../serial", "r") - serialid = f.read().strip() - f.close() - except: - pass - try: - f = open(usbpath + "/../../../../idVendor", "r") - serialid += f.read().strip() - f.close() - f = open(usbpath + "/../../../../idProduct", "r") - serialid += f.read().strip() - f.close() - except: - pass - if len(serialid.strip()) == 0: - return None - return serialid - -def get_kinect_serial(): - ret = subprocess.check_output("lsusb -v -d 045e:02ae | grep Serial | awk '{print $3}'", shell=True) - if len(ret) > 0: - return ret.strip() - return None - -def getCurrentParams(drclient): - allparams = drclient.get_configuration() - return (allparams['gyro_scale_correction'], allparams['odom_angular_scale_correction'], allparams['gyro_measurement_range']) - -def writeParams(drclient, newparams): - r = drclient.update_configuration(newparams) - rospy.loginfo("Automatically updated the params in the current running instance of ROS, no need to restart.") - -def writeParamsToCalibrationFile(newparams): - kinect_serial = get_kinect_serial() - if kinect_serial is None: - kinect_serial = get_usb_to_serial_id() # can't find a kinect, attempt to use the usb to serial convert's id as a backup - if kinect_serial is None: - return - ros_home = os.environ.get('ROS_HOME') - if ros_home is None: - ros_home = "~/.ros" - calib_dir = os.path.expanduser(ros_home +"/turtlebot_create/") - calib_file = calib_dir +str(kinect_serial) + ".yaml" - # if the file exists, load into a dict, update the new params, and then save - if os.path.isfile(calib_file): - f = open(calib_file, 'r') - docs = yaml.load_all(f) - d = docs.next() - for k,v in newparams.iteritems(): - d[k] = v - newparams = d - f.close() - try: - os.makedirs(calib_dir) - except: - pass - with open(calib_file, 'w') as outfile: - outfile.write( yaml.dump(newparams, default_flow_style=False) ) - rospy.loginfo("Saved the params to the calibration file: %s" % calib_file) - -def writeParamsToLaunchFile(gyro, odom, gyro_range): - try: - f = open("/etc/ros/distro/turtlebot.launch", "r") - # this is totally NOT the best way to solve this problem. - foo = [] - for lines in f: - if "turtlebot_node/gyro_scale_correction" in lines: - foo.append(" \n" % gyro) - elif "turtlebot_node/odom_angular_scale_correction" in lines: - foo.append(" \n" % odom) - elif "turtlebot_node/gyro_measurement_range" in lines: - foo.append(" \n" % gyro_range) - else: - foo.append(lines) - f.close() - - # and... write! - f = open("/etc/ros/distro/turtlebot.launch", "w") - for i in foo: - f.write(i) - f.close() - rospy.loginfo("Automatically updated turtlebot.launch, please restart the turtlebot service.") - except: - rospy.loginfo("Could not automatically update turtlebot.launch, please manually update it.") - -def warnAboutGyroRange(drclient): - params = getCurrentParams(drclient) - rospy.logwarn("***** If you have not manually set the gyro range parameter you must do so before running calibration. Cancel this run and see http://wiki.ros.org/turtlebot_calibration/Tutorials/Calibrate%20Odometry%20and%20Gyro") - rospy.logwarn("******* turtlebot_node/gyro_measurement_range is currently set to: %d ******" % params[2]) - - -def main(): - rospy.init_node('scan_to_angle') - robot = CalibrateRobot() - imu_res = 1.0 - - drclient = dynamic_reconfigure.client.Client("turtlebot_node") - warnAboutGyroRange(drclient) - - imu_drift = robot.imu_drift() - imu_corr = [] - odom_corr = [] - for speed in (0.3, 0.7, 1.0, 1.5): - robot.align() - (imu, odom) = robot.calibrate(speed, imu_drift) - if imu: - imu_corr.append(imu) - odom_corr.append(odom) - - (prev_gyro, prev_odom, gyro_range) = getCurrentParams(drclient) - if len(imu_corr)>0: - imu_res = prev_gyro * (1.0/(sum(imu_corr)/len(imu_corr))) - rospy.loginfo("Set the 'turtlebot_node/gyro_scale_correction' parameter to %f"%imu_res) - - odom_res = prev_odom * (1.0/(sum(odom_corr)/len(odom_corr))) - rospy.loginfo("Set the 'turtlebot_node/odom_angular_scale_correction' parameter to %f"%odom_res) - writeParamsToLaunchFile(imu_res, odom_res, gyro_range) - - newparams = {'gyro_scale_correction' : imu_res, 'odom_angular_scale_correction' : odom_res, 'gyro_measurement_range' : gyro_range} - writeParamsToCalibrationFile(newparams) - writeParams(drclient, newparams) - -if __name__ == '__main__': - main() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py deleted file mode 100755 index a86acd9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py +++ /dev/null @@ -1,90 +0,0 @@ -#! /usr/bin/python -#*********************************************************** -# Software License Agreement (BSD License) -# -# Copyright (c) 2008, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of the Willow Garage nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# - -# Author: Wim Meeussen - -from __future__ import with_statement - -import roslib; roslib.load_manifest('turtlebot_calibration') -import yaml -import rospy -from sensor_msgs.msg import LaserScan -from turtlebot_calibration.msg import ScanAngle -from math import * - - -class ScanToAngle: - def __init__(self): - self.min_angle = rospy.get_param('min_angle', -0.3) - self.max_angle = rospy.get_param('max_angle', 0.3) - self.pub = rospy.Publisher('scan_angle', ScanAngle) - self.sub = rospy.Subscriber('scan', LaserScan, self.scan_cb) - - - def scan_cb(self, msg): - angle = msg.angle_min - d_angle = msg.angle_increment - sum_x = 0 - sum_y = 0 - sum_xx = 0 - sum_xy = 0 - num = 0 - for r in msg.ranges: - if angle > self.min_angle and angle < self.max_angle and r < msg.range_max: - x = sin(angle) * r - y = cos(angle) * r - sum_x += x - sum_y += y - sum_xx += x*x - sum_xy += x*y - num += 1 - angle += d_angle - if num > 0: - angle=atan2((-sum_x*sum_y+num*sum_xy)/(num*sum_xx-sum_x*sum_x), 1) - res = ScanAngle() - res.header = msg.header - res.scan_angle = angle - self.pub.publish(res) - else: - rospy.logerr("Please point me at a wall.") - -def main(): - rospy.init_node('scan_to_angle') - s = ScanToAngle() - rospy.spin() - - -if __name__ == '__main__': - main() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.cproject deleted file mode 100755 index d74eeff..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CHANGELOG.rst deleted file mode 100755 index 5bc884b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CHANGELOG.rst +++ /dev/null @@ -1,86 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_follower -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.7 (2016-11-01) ------------------- -* fixed bad printf format -* clean up cmake dependencies -* Included depth_image_proc in cmake deps -* Contributors: Mr-Yellow, Rohan Agrawal, Tully Foote - -2.3.6 (2016-06-29) ------------------- -* add dependency on depth_image_proc -* Contributors: Tully Foote - -2.3.5 (2016-06-28) ------------------- - -2.3.4 (2016-06-28) ------------------- -* Switch to use depth/image_rect instead of depth/points for efficiency. - It takes ~ 1/4th the cpu power to do this version. - This has the added benefit of not requiring PCL as a dependency. -* Add support for joystick override of follower - This allows joystick button 5 to toggle follower on and off. - It simply adds another input to the mux which sends zero - velocity with a slightly higher priority than the follower. -* the sim directory no longer exists - It was implicitly removed in `#142 `_ -* Added arguments in launch file -* Add simulation launch in turtlebot_follower -* Contributors: Jihoon Lee, Nadya Ampilogova, Tully Foote - -2.3.3 (2015-03-23) ------------------- - -2.3.2 (2015-01-21) ------------------- - -2.3.1 (2014-12-30) ------------------- - -2.3.0 (2014-12-30) ------------------- -* remove inappropriate / fixes `#127 `_ -* sim to simulation param -* follower in simulation -* Contributors: Jihoon Lee - -2.2.4 (2013-10-14) ------------------- - -2.2.3 (2013-09-27) ------------------- - -2.2.2 (2013-09-26) ------------------- -* Use service files to turtlebot_msgs. - -2.2.1 (2013-09-23) ------------------- - -2.2.0 (2013-08-30) ------------------- -* Rename include launchers to *.launch.xml. -* Changelogs at package level. - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-08-09) ------------------- -* Fix namespace issues -* Rationalize the use of velocity smoother: remap properly robot_cmd_vel, add comments, and avoid meaningless topic names - -2.1.0 (2013-07-19) ------------------- -* Catkinized -* Unexistent include dir removed from package description - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_apps/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CMakeLists.txt deleted file mode 100755 index 34e6323..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CMakeLists.txt +++ /dev/null @@ -1,83 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_follower) - -## Find catkin macros and libraries -find_package(catkin REQUIRED COMPONENTS nodelet roscpp visualization_msgs turtlebot_msgs depth_image_proc dynamic_reconfigure) -find_package(Boost REQUIRED) - -generate_dynamic_reconfigure_options(cfg/Follower.cfg) - -catkin_package( - INCLUDE_DIRS - LIBRARIES ${PROJECT_NAME} - CATKIN_DEPENDS nodelet roscpp visualization_msgs turtlebot_msgs depth_image_proc dynamic_reconfigure -) - -########### -## Build ## -########### - -## Specify additional locations of header files -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${Boost_INCLUDE_DIRS} -) - -## Declare a cpp library -add_library(${PROJECT_NAME} src/follower.cpp) - -add_dependencies(${PROJECT_NAME} - ${catkin_EXPORTED_TARGETS} - ${PROJECT_NAME}_gencfg - ${turtlebot_msgs_EXPORTED_TARGETS} -) - -## Specify libraries to link a library or executable target against -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} -) - -############# -## Install ## -############# - -## Mark executables and/or libraries for installation -install(TARGETS ${PROJECT_NAME} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -## Mark all other required files for installation -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY param - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY plugins - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -install(PROGRAMS - scripts/switch.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_turtlebot_follower.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/.gitignore deleted file mode 100755 index 7ca7291..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/cpp diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg deleted file mode 100755 index 61947b0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg +++ /dev/null @@ -1,52 +0,0 @@ -#! /usr/bin/env python -# Software License Agreement (BSD License) -# -# Copyright (c) 2009, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - - -PACKAGE='turtlebot_follower' - -import math - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() -gen.add("min_x", double_t, 0, "The minimum x position of the points in the box.", -0.20, -3.0, 3.0) -gen.add("max_x", double_t, 0, "The maximum x position of the points in the box.", 0.20, -3.0, 3.0) -gen.add("min_y", double_t, 0, "The minimum y position of the points in the box.", 0.10, -1.0, 3.0) -gen.add("max_y", double_t, 0, "The maximum y position of the points in the box.", 0.50, -1.0, 3.0) -gen.add("max_z", double_t, 0, "The maximum z position of the points in the box.", 0.8, 0.0, 3.0) -gen.add("goal_z", double_t, 0, "The distance away from the robot to hold the centroid.", 0.6, 0.0, 3.0) -gen.add("x_scale", double_t, 0, "The scaling factor for translational robot speed.", 1.0, 0.0, 3.0) -gen.add("z_scale", double_t, 0, "The scaling factor for rotational robot speed.", 5.0, 0.0, 10.0) - - -exit(gen.generate(PACKAGE, "turtlebot_follower_dynamic_reconfigure", "Follower")) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch deleted file mode 100755 index fd3fcd3..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml deleted file mode 100755 index 7be5edc..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml deleted file mode 100755 index 05c4b7e..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/package.xml deleted file mode 100755 index 857b8b9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - turtlebot_follower - 2.3.7 - - Follower for the turtlebot. Follows humans and robots around by following the centroid of a box points in front of the turtlebot. - - - Daniel Stonier - - BSD - - http://ros.org/wiki/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps/issues - - Tony Pratkanis - - catkin - - depth_image_proc - nodelet - roscpp - visualization_msgs - dynamic_reconfigure - turtlebot_msgs - - depth_image_proc - nodelet - roscpp - visualization_msgs - dynamic_reconfigure - topic_tools - turtlebot_bringup - turtlebot_teleop - turtlebot_msgs - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml deleted file mode 100755 index d6c8125..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - The turtlebot people follower node. - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py deleted file mode 100755 index efc4b30..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py +++ /dev/null @@ -1,37 +0,0 @@ -#!/usr/bin/env python -# license removed for brevity -import rospy -from geometry_msgs.msg import Twist -from sensor_msgs.msg import Joy - -# This script will listen for joystick button 5 being toggled and -# send zero speed messages to the mux to disable the follower until -# button 5 is pressed again. - -class BehaviorSwitch(object): - def __init__(self): - self.running = False - - def callback(self, joy_msg): - if joy_msg.buttons[5] == 1: - self.running = not self.running - - rospy.loginfo(repr(joy_msg)) - - def run(self): - rospy.init_node('behavior_switch', anonymous=True) - pub = rospy.Publisher('cmd_vel_mux/input/switch', Twist, queue_size=10) - rospy.Subscriber('joy', Joy, self.callback) - rate = rospy.Rate(10) - while not rospy.is_shutdown(): - if self.running: - empty_msg = Twist() - pub.publish(empty_msg) - rate.sleep() - -if __name__ == '__main__': - try: - behavior_switch = BehaviorSwitch() - behavior_switch.run() - except rospy.ROSInterruptException: - pass diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore deleted file mode 100755 index c28a37f..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/turtlebot_follower diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp deleted file mode 100755 index 54e1b71..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp +++ /dev/null @@ -1,319 +0,0 @@ -/* - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include -#include -#include -#include -#include - -#include "dynamic_reconfigure/server.h" -#include "turtlebot_follower/FollowerConfig.h" - -#include - - -namespace turtlebot_follower -{ - -//* The turtlebot follower nodelet. -/** - * The turtlebot follower nodelet. Subscribes to point clouds - * from the 3dsensor, processes them, and publishes command vel - * messages. - */ -class TurtlebotFollower : public nodelet::Nodelet -{ -public: - /*! - * @brief The constructor for the follower. - * Constructor for the follower. - */ - TurtlebotFollower() : min_y_(0.1), max_y_(0.5), - min_x_(-0.2), max_x_(0.2), - max_z_(0.8), goal_z_(0.6), - z_scale_(1.0), x_scale_(5.0) - { - - } - - ~TurtlebotFollower() - { - delete config_srv_; - } - -private: - double min_y_; /**< The minimum y position of the points in the box. */ - double max_y_; /**< The maximum y position of the points in the box. */ - double min_x_; /**< The minimum x position of the points in the box. */ - double max_x_; /**< The maximum x position of the points in the box. */ - double max_z_; /**< The maximum z position of the points in the box. */ - double goal_z_; /**< The distance away from the robot to hold the centroid */ - double z_scale_; /**< The scaling factor for translational robot speed */ - double x_scale_; /**< The scaling factor for rotational robot speed */ - bool enabled_; /**< Enable/disable following; just prevents motor commands */ - - // Service for start/stop following - ros::ServiceServer switch_srv_; - - // Dynamic reconfigure server - dynamic_reconfigure::Server* config_srv_; - - /*! - * @brief OnInit method from node handle. - * OnInit method from node handle. Sets up the parameters - * and topics. - */ - virtual void onInit() - { - ros::NodeHandle& nh = getNodeHandle(); - ros::NodeHandle& private_nh = getPrivateNodeHandle(); - - private_nh.getParam("min_y", min_y_); - private_nh.getParam("max_y", max_y_); - private_nh.getParam("min_x", min_x_); - private_nh.getParam("max_x", max_x_); - private_nh.getParam("max_z", max_z_); - private_nh.getParam("goal_z", goal_z_); - private_nh.getParam("z_scale", z_scale_); - private_nh.getParam("x_scale", x_scale_); - private_nh.getParam("enabled", enabled_); - - cmdpub_ = private_nh.advertise ("cmd_vel", 1); - markerpub_ = private_nh.advertise("marker",1); - bboxpub_ = private_nh.advertise("bbox",1); - sub_= nh.subscribe("depth/image_rect", 1, &TurtlebotFollower::imagecb, this); - - switch_srv_ = private_nh.advertiseService("change_state", &TurtlebotFollower::changeModeSrvCb, this); - - config_srv_ = new dynamic_reconfigure::Server(private_nh); - dynamic_reconfigure::Server::CallbackType f = - boost::bind(&TurtlebotFollower::reconfigure, this, _1, _2); - config_srv_->setCallback(f); - } - - void reconfigure(turtlebot_follower::FollowerConfig &config, uint32_t level) - { - min_y_ = config.min_y; - max_y_ = config.max_y; - min_x_ = config.min_x; - max_x_ = config.max_x; - max_z_ = config.max_z; - goal_z_ = config.goal_z; - z_scale_ = config.z_scale; - x_scale_ = config.x_scale; - } - - /*! - * @brief Callback for point clouds. - * Callback for depth images. It finds the centroid - * of the points in a box in the center of the image. - * Publishes cmd_vel messages with the goal from the image. - * @param cloud The point cloud message. - */ - void imagecb(const sensor_msgs::ImageConstPtr& depth_msg) - { - - // Precompute the sin function for each row and column - uint32_t image_width = depth_msg->width; - float x_radians_per_pixel = 60.0/57.0/image_width; - float sin_pixel_x[image_width]; - for (int x = 0; x < image_width; ++x) { - sin_pixel_x[x] = sin((x - image_width/ 2.0) * x_radians_per_pixel); - } - - uint32_t image_height = depth_msg->height; - float y_radians_per_pixel = 45.0/57.0/image_width; - float sin_pixel_y[image_height]; - for (int y = 0; y < image_height; ++y) { - // Sign opposite x for y up values - sin_pixel_y[y] = sin((image_height/ 2.0 - y) * y_radians_per_pixel); - } - - //X,Y,Z of the centroid - float x = 0.0; - float y = 0.0; - float z = 1e6; - //Number of points observed - unsigned int n = 0; - - //Iterate through all the points in the region and find the average of the position - const float* depth_row = reinterpret_cast(&depth_msg->data[0]); - int row_step = depth_msg->step / sizeof(float); - for (int v = 0; v < (int)depth_msg->height; ++v, depth_row += row_step) - { - for (int u = 0; u < (int)depth_msg->width; ++u) - { - float depth = depth_image_proc::DepthTraits::toMeters(depth_row[u]); - if (!depth_image_proc::DepthTraits::valid(depth) || depth > max_z_) continue; - float y_val = sin_pixel_y[v] * depth; - float x_val = sin_pixel_x[u] * depth; - if ( y_val > min_y_ && y_val < max_y_ && - x_val > min_x_ && x_val < max_x_) - { - x += x_val; - y += y_val; - z = std::min(z, depth); //approximate depth as forward. - n++; - } - } - } - - //If there are points, find the centroid and calculate the command goal. - //If there are no points, simply publish a stop goal. - if (n>4000) - { - x /= n; - y /= n; - if(z > max_z_){ - ROS_INFO_THROTTLE(1, "Centroid too far away %f, stopping the robot\n", z); - if (enabled_) - { - cmdpub_.publish(geometry_msgs::TwistPtr(new geometry_msgs::Twist())); - } - return; - } - - ROS_INFO_THROTTLE(1, "Centroid at %f %f %f with %d points", x, y, z, n); - publishMarker(x, y, z); - - if (enabled_) - { - geometry_msgs::TwistPtr cmd(new geometry_msgs::Twist()); - cmd->linear.x = (z - goal_z_) * z_scale_; - cmd->angular.z = -x * x_scale_; - cmdpub_.publish(cmd); - } - } - else - { - ROS_INFO_THROTTLE(1, "Not enough points(%d) detected, stopping the robot", n); - publishMarker(x, y, z); - - if (enabled_) - { - cmdpub_.publish(geometry_msgs::TwistPtr(new geometry_msgs::Twist())); - } - } - - publishBbox(); - } - - bool changeModeSrvCb(turtlebot_msgs::SetFollowState::Request& request, - turtlebot_msgs::SetFollowState::Response& response) - { - if ((enabled_ == true) && (request.state == request.STOPPED)) - { - ROS_INFO("Change mode service request: following stopped"); - cmdpub_.publish(geometry_msgs::TwistPtr(new geometry_msgs::Twist())); - enabled_ = false; - } - else if ((enabled_ == false) && (request.state == request.FOLLOW)) - { - ROS_INFO("Change mode service request: following (re)started"); - enabled_ = true; - } - - response.result = response.OK; - return true; - } - - void publishMarker(double x,double y,double z) - { - visualization_msgs::Marker marker; - marker.header.frame_id = "/camera_rgb_optical_frame"; - marker.header.stamp = ros::Time(); - marker.ns = "my_namespace"; - marker.id = 0; - marker.type = visualization_msgs::Marker::SPHERE; - marker.action = visualization_msgs::Marker::ADD; - marker.pose.position.x = x; - marker.pose.position.y = y; - marker.pose.position.z = z; - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - marker.scale.x = 0.2; - marker.scale.y = 0.2; - marker.scale.z = 0.2; - marker.color.a = 1.0; - marker.color.r = 1.0; - marker.color.g = 0.0; - marker.color.b = 0.0; - //only if using a MESH_RESOURCE marker type: - markerpub_.publish( marker ); - } - - void publishBbox() - { - double x = (min_x_ + max_x_)/2; - double y = (min_y_ + max_y_)/2; - double z = (0 + max_z_)/2; - - double scale_x = (max_x_ - x)*2; - double scale_y = (max_y_ - y)*2; - double scale_z = (max_z_ - z)*2; - - visualization_msgs::Marker marker; - marker.header.frame_id = "/camera_rgb_optical_frame"; - marker.header.stamp = ros::Time(); - marker.ns = "my_namespace"; - marker.id = 1; - marker.type = visualization_msgs::Marker::CUBE; - marker.action = visualization_msgs::Marker::ADD; - marker.pose.position.x = x; - marker.pose.position.y = -y; - marker.pose.position.z = z; - marker.pose.orientation.x = 0.0; - marker.pose.orientation.y = 0.0; - marker.pose.orientation.z = 0.0; - marker.pose.orientation.w = 1.0; - marker.scale.x = scale_x; - marker.scale.y = scale_y; - marker.scale.z = scale_z; - marker.color.a = 0.5; - marker.color.r = 0.0; - marker.color.g = 1.0; - marker.color.b = 0.0; - //only if using a MESH_RESOURCE marker type: - bboxpub_.publish( marker ); - } - - ros::Subscriber sub_; - ros::Publisher cmdpub_; - ros::Publisher markerpub_; - ros::Publisher bboxpub_; -}; - -PLUGINLIB_DECLARE_CLASS(turtlebot_follower, TurtlebotFollower, turtlebot_follower::TurtlebotFollower, nodelet::Nodelet); - -} diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst deleted file mode 100755 index a1cbc25..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst +++ /dev/null @@ -1,129 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_navigation -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.7 (2016-11-01) ------------------- -* Parameterize AMCL and GMapping launch files for individual cameras. - Changed amcl_demo.launch and gmapping_demo.launch to use the - TURTLEBOT_3D_SENSOR environment variable to choose which version of - the XXXX_amcl.launch.xml, XXXX_costmap_param.yaml, and - XXXX_gmapping.launch.xml files it includes. - This is done to allow custom AMCL or GMapping parameters specific to - the 3D camera being used. These have also been parameterized to allow - you to pass an argument to override these values. - For cameras that do not have custom param files, their corresponding - launch files are simply symlinks to the default files. -* remove superfluous leading '/' in topic names - These are not needed as all topics in question are in the - same namespace as the nodes. However, the '/' breaks namespacing, - so it becomes impossible to move the whole launch file into - a new namespace. -* Contributors: Kevin Wells, v4hn - -2.3.6 (2016-06-29) ------------------- - -2.3.5 (2016-06-28) ------------------- - -2.3.4 (2016-06-28) ------------------- -* Update CMakeLists.txt - catkin_package() must be called before add_executable(). -* Contributors: Jihoon Lee, commaster90 - -2.3.3 (2015-03-23) ------------------- -* use env instead arg for map closes `#134 `_ -* Contributors: roycho111 - -2.3.2 (2015-01-21) ------------------- - -2.3.1 (2014-12-30) ------------------- - -2.3.0 (2014-12-30) ------------------- -* base_frame and odom_frame are configurable -* Added comment about track_unknown_space also to global_planner_param.yaml -* Update move_base_params.yaml - Removed base_global_planner parameter which was defined twice -* - track_unknown_space parameter added to obstacle layer in costmap_common_param.yaml - - set allow_unknown global path planning to false and added note about needed track_unkown_space param -* - Added default values for navfn comments - - Added global planner param file - - Added comment for global planner in move base param file - - Removed base_local_planner.yaml -* Added navfn param file to move_base.launch.xml -* Added param file for navfn global planner -* restructure of custom param -* fixed typo in move_base.launch.xml -* added comments about dummy file -* Load custom param file for move_base -* set laser topic from launch file -* set gmapping minimum score to 200 -* fixed few parameters -* bugfix and param files clean up -* bugfix move_base.launch.xml -* updated turtlebot navigation params to use layer plugins -* frame_id parameters can now be entered by user from launch file -* Set frame_id parameters as arguments in amcl launch file -* turtlebot navigation environment variables (map). -* minimumScore in gmapping -* typo bugfix for dwa-local-planner -> dwa_local_planner run_depends. -* Run depend fix for dwa_local_planner -* constrain translational acceleration to match the smoother's profile, `#93 `_. -* improved obstacle avoidance, better turning arcs. -* don't set translational min vel to zero else negligible rotations will be accepted. -* update dwa local planner with experimentally verified kobuki limits and accelerations. -* local costmap and obstacle layer should be referencing odom, not map, fixes `#90 `_. -* Merge branch 'indigo' of https://github.com/turtlebot/turtlebot_apps into indigo -* there is actually one (not zero) vy_sample when planning, fixes `#89 `_. -* 0.0 minimum velocity so it generates local paths that spin in place. -* switch to the dwa planner. -* dwa planner configuration for the turtlebot. -* Removed dependencies that move_base now brings in, closes `#56 `_. -* Contributors: AlexReimann, Alexander Reimann, Daniel Stonier, Jihoon Lee, Mehdi Tlili, kentsommer - -2.2.4 (2013-10-14) ------------------- - -2.2.3 (2013-09-27) ------------------- - -2.2.2 (2013-09-26) ------------------- - -2.2.1 (2013-09-23) ------------------- - -2.2.0 (2013-08-30) ------------------- -* On gmapping, provide a realistic range for the kinect and reduce the map_update_interval (now use default value). -* Add bugtracker and repo info URLs. -* Rename include launchers to *.launch.xml. -* Changelogs at package level. -* URL for the pull request that will make the navi modules workaround redundant. -* Dependencies reviewed - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-08-09) ------------------- -* Add few namespace-related changes -* Add safety controller to navigation demos -* Rationalize the use of velocity smoother: remap properly robot_cmd_vel, add comments, and avoid meaningless topic names" -* Adapt turtlebot_navigation configuration to hydro navi stack - -2.1.0 (2013-07-19) ------------------- -* Catkinized - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_apps/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt deleted file mode 100755 index 2d5f2d9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_navigation) - -# Load catkin and all dependencies required for this package -find_package(catkin REQUIRED COMPONENTS tf roscpp sensor_msgs) - -# What other packages will need to use this package -catkin_package( - CATKIN_DEPENDS tf roscpp sensor_msgs -) - -catkin_add_env_hooks(25.turtlebot-navigation SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) - - -########### -## Build ## -########### -include_directories(${catkin_INCLUDE_DIRS}) - -# Add_executables -add_executable(laser_footprint_filter src/laser_footprint_filter.cpp) -target_link_libraries(laser_footprint_filter ${catkin_LIBRARIES}) - - -############# -## Install ## -############# - -# Mark executables and/or libraries for installation -install(TARGETS laser_footprint_filter - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - -# Mark anything (useful) else for installation -install(DIRECTORY laser - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY param - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY maps - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em deleted file mode 100755 index 982626b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em +++ /dev/null @@ -1,13 +0,0 @@ -# Set some sane defaults for the turtlebot navigation launch environment - -##Documentation: -# The colon command simply has its arguments evaluated and then succeeds. -# It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. -# The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). -# Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. -# But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler - -: ${TURTLEBOT_MAP_FILE:=`rospack find turtlebot_navigation`/maps/willow-2010-02-18-0.10.yaml} - -# Exports -export TURTLEBOT_MAP_FILE diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml deleted file mode 100755 index 213238d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml +++ /dev/null @@ -1,8 +0,0 @@ -obstacle_range: 2.5 -raytrace_range: 3.0 -robot_radius: 0.35 -inflation_radius: 0.50 -observation_sources: scan left_bump right_bump -scan: {sensor_frame: /laser, data_type: LaserScan, topic: /scan_filtered, marking: true, clearing: true} -left_bump: {data_type: PointCloud2, topic: /bump_sensor_left, marking: true, clearing: true} -right_bump: {data_type: PointCloud2, topic: /bump_sensor_right, marking: true, clearing: true} diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch deleted file mode 100755 index 2551fcd..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch deleted file mode 100755 index c3cf44e..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch deleted file mode 100755 index a5b652c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch deleted file mode 100755 index 802a292..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch deleted file mode 100755 index c472d5d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch deleted file mode 100755 index 048c13d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml deleted file mode 100755 index 9989686..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml deleted file mode 100755 index 7076ac7..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml deleted file mode 100755 index 601092c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml deleted file mode 100755 index 601092c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml deleted file mode 100755 index 601092c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml deleted file mode 100755 index 601092c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml deleted file mode 100755 index 601092c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml +++ /dev/null @@ -1,49 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml deleted file mode 100755 index d6b188e..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_quad_sensor.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_quad_sensor.launch.xml deleted file mode 100755 index f4a7dd6..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_quad_sensor.launch.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_single_sensor.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_single_sensor.launch.xml deleted file mode 100755 index 55e62b5..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_single_sensor.launch.xml +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml deleted file mode 100755 index 9654f9b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml deleted file mode 100755 index fd4a486..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm deleted file mode 100755 index 3c44727..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: GIMP PNM Filter Version 1.1 -566 608 -255 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\ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml deleted file mode 100755 index 3100be1..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: willow-2010-02-18-0.10.pgm -resolution: 0.100000 -origin: [0.000000, 0.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml deleted file mode 100755 index 9562a1c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - turtlebot_navigation - 2.3.7 - turtlebot_navigation - OSRF - BSD - http://ros.org/wiki/turtlebot_navigation - https://github.com/turtlebot/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps/issues - Tully Foote - - catkin - - tf - roscpp - sensor_msgs - - tf - roscpp - sensor_msgs - move_base - map_server - amcl - gmapping - turtlebot_bringup - dwa_local_planner - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml deleted file mode 100755 index 2e05f4c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml +++ /dev/null @@ -1,69 +0,0 @@ -max_obstacle_height: 1 # assume something like an arm is mounted on top of the robot - -# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) -robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) -# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular - -map_type: voxel - -obstacle_layer: - enabled: true - max_obstacle_height: 2 - origin_z: 0.0 - z_resolution: 0.015 - z_voxels: 16 - unknown_threshold: 15 - mark_threshold: 2 - combination_method: 1 - track_unknown_space: true #true needed for disabling global path planning through unknown space - obstacle_range: 4.0 - raytrace_range: 3.0 - publish_voxel_map: true - observation_sources: scan0 scan1 scan2 scan3 bump - scan0: - data_type: PointCloud2 - topic: cloud_in - marking: true - clearing: true - min_obstacle_height: 0.0 - max_obstacle_height: 2 - scan1: - data_type: PointCloud2 - topic: cloud_in - marking: true - clearing: true - min_obstacle_height: 0.0 - max_obstacle_height: 2 - scan2: - data_type: PointCloud2 - topic: cloud_in - marking: true - clearing: true - min_obstacle_height: 0.0 - max_obstacle_height: 2 - scan3: - data_type: PointCloud2 - topic: cloud_in - marking: true - clearing: true - min_obstacle_height: 0.0 - max_obstacle_height: 2 - bump: - data_type: PointCloud2 - topic: mobile_base/sensors/bumper_pointcloud - marking: true - clearing: false - min_obstacle_height: 0.0 - max_obstacle_height: 0.15 - # for debugging only, let's you see the entire voxel grid - -#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns -inflation_layer: - enabled: true - cost_scaling_factor: 8.0 # exponential rate at which the obstacle cost drops off (default: 10) - inflation_radius: 0.22 # max. distance from an obstacle at which costs are incurred for planning paths. - -static_layer: - enabled: true - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dummy.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dummy.yaml deleted file mode 100755 index 89f2356..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dummy.yaml +++ /dev/null @@ -1 +0,0 @@ -#A dummy file loaded when no custom param file is given diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dwa_local_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dwa_local_planner_params.yaml deleted file mode 100755 index 4fb4669..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dwa_local_planner_params.yaml +++ /dev/null @@ -1,57 +0,0 @@ -DWAPlannerROS: - -# Robot Configuration Parameters - Kobuki - max_vel_x: 0.2 # 0.55 - min_vel_x: 0.0 - - max_vel_y: 0.0 # diff drive robot - min_vel_y: 0.0 # diff drive robot - - max_trans_vel: 0.5 # choose slightly less than the base's capability - min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity - trans_stopped_vel: 0.05 - - # Warning! - # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities - # are non-negligible and small in place rotational velocities will be created. - - max_rot_vel: 2.0 # choose slightly less than the base's capability - min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity - rot_stopped_vel: 0.4 - - acc_lim_x: 2.0 # maximum is theoretically 2.0, but we - acc_lim_theta: 2.0 - acc_lim_y: 0.0 # diff drive robot - -# Goal Tolerance Parameters - yaw_goal_tolerance: 0.40 # 0.05 - xy_goal_tolerance: 0.17 # 0.10 - latch_xy_goal_tolerance: true - -# Forward Simulation Parameters - sim_time: 1.7 # 1.7 - vx_samples: 3 # 3 - vy_samples: 0 # diff drive robot, there is only one sample - vtheta_samples: 20 # 20 - -# Trajectory Scoring Parameters - path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan - goal_distance_bias: 0.01 # 24.0 - weighting for how much it should attempt to reach its goal - occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles - forward_point_distance: 0.12 # 0.325 - how far along to place an additional scoring point - stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. - scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint - max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. - -# Oscillation Prevention Parameters - oscillation_reset_dist: 0.00 # 0.02 - how far to travel before resetting oscillation flags - oscillation_reset_angle: 0.0 # 0.2 - how far to rotate before resetting oscillation flags - -# Debugging - publish_traj_pc : true - publish_cost_grid_pc: true - global_frame_id: odom - - -# Differential-drive robot configuration - necessary? - holonomic_robot: false diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_costmap_params.yaml deleted file mode 100755 index 897c55b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_costmap_params.yaml +++ /dev/null @@ -1,18 +0,0 @@ -global_costmap: - global_frame: /map - robot_base_frame: /base_footprint - update_frequency: 25 - publish_frequency: 5 - static_map: true - rolling_window: false - width: 20.0 - height: 10.0 - always_send_full_costmap: true - origin_x: -5.0 - origin_y: -5.0 - resolution: 0.10 - transform_tolerance: 5 - plugins: - - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_planner_params.yaml deleted file mode 100755 index 72a7a23..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_planner_params.yaml +++ /dev/null @@ -1,20 +0,0 @@ - -GlobalPlanner: # Also see: http://wiki.ros.org/global_planner - old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false - use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true - use_dijkstra: true # Use dijkstra's algorithm. Otherwise, A*, default true - use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false - - allow_unknown: true # Allow planner to plan through unknown space, default true - #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work - planner_window_x: 0.0 # default 0.0 - planner_window_y: 0.0 # default 0.0 - default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 - - publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 - planner_costmap_publish_frequency: 0.0 # default 0.0 - - lethal_cost: 253 # default 253 - neutral_cost: 66 # default 50 - cost_factor: 3.0 # Factor to multiply each cost from costmap by, default 3.0 - publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/local_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/local_costmap_params.yaml deleted file mode 100755 index aee5b05..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/local_costmap_params.yaml +++ /dev/null @@ -1,15 +0,0 @@ -local_costmap: - global_frame: /odom - robot_base_frame: /base_footprint - update_frequency: 20 - publish_frequency: 10 - static_map: false - rolling_window: true - width: 4.0 - height: 4.0 - resolution: 0.02 - transform_tolerance: 1 - plugins: - - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/move_base_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/move_base_params.yaml deleted file mode 100755 index 4bd08a3..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/move_base_params.yaml +++ /dev/null @@ -1,66 +0,0 @@ -# Move base node parameters. For full documentation of the parameters in this file, please see -# -# http://www.ros.org/wiki/move_base -# -shutdown_costmaps: false - -controller_frequency: 5.0 -controller_patience: 3.0 - - -planner_frequency: 1.0 -planner_patience: 5.0 - -oscillation_timeout: 0.0 -oscillation_distance: 0.2 - -# local planner - default is trajectory rollout -base_local_planner: "dwa_local_planner/DWAPlannerROS" - -base_global_planner: "navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner - - -#We plan to integrate recovery behaviors for turtlebot but currently those belong to gopher and still have to be adapted. -## recovery behaviors; we avoid spinning, but we need a fall-back replanning -recovery_behavior_enabled: true - -#conservative_reset_dist: 0.1 - -conservative_reset: - layer_names: - - obstacle_layer - -aggressive_reset: - layer_names: - - obstacle_layer - -recovery_behaviors: - #- name: 'super_conservative_reset1' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'conservative_reset1' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'aggressive_reset1' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - - name: 'clearing_rotation1' - type: 'rotate_recovery/RotateRecovery' - #- name: 'super_conservative_reset2' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'conservative_reset2' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'aggressive_reset2' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - - name: 'clearing_rotation2' - type: 'rotate_recovery/RotateRecovery' - -#super_conservative_reset1: - #reset_distance: 3.0 -#conservative_reset1: - #reset_distance: 1.5 -#aggressive_reset1: - #reset_distance: 0.0 -#super_conservative_reset2: - #reset_distance: 3.0 -#conservative_reset2: - #reset_distance: 1.5 -#aggressive_reset2: - #reset_distance: 0.0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/navfn_global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/navfn_global_planner_params.yaml deleted file mode 100755 index a0b6bea..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/navfn_global_planner_params.yaml +++ /dev/null @@ -1,10 +0,0 @@ - -NavfnROS: - visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default false - allow_unknown: false #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true - #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work - planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 - planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0 - - default_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 - #The area is always searched, so could be slow for big values diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/radar_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/radar_costmap_params.yaml deleted file mode 100755 index bf0b6d1..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/radar_costmap_params.yaml +++ /dev/null @@ -1,25 +0,0 @@ -local_costmap: - obstacle_layer: - scan0: - topic: xyzi_filt_out_0 - scan1: - topic: xyzi_filt_out_1 - scan2: - topic: xyzi_filt_out_2 - scan3: - topic: xyzi_filt_out_3 -global_costmap: - obstacle_layer: - scan0: - topic: xyzi_filt_out_0 - scan1: - topic: xyzi_filt_out_1 - scan2: - topic: xyzi_filt_out_2 - scan3: - topic: xyzi_filt_out_3 - inflation_layer: - cost_scaling_factor: 9.8 # exponential rate at which the obstacle cost drops off (default: 10) - inflation_radius: 0.37 # max. distance from an obstacle at which costs are incurred for planning paths. - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/costmap_common_params.yaml deleted file mode 100755 index abc5a80..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/costmap_common_params.yaml +++ /dev/null @@ -1,48 +0,0 @@ -max_obstacle_height: 1 # assume something like an arm is mounted on top of the robot - -# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) -robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) -# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular - -map_type: voxel - -obstacle_layer: - enabled: true - max_obstacle_height: 2 - origin_z: 0.0 - z_resolution: 0.015 - z_voxels: 16 - unknown_threshold: 15 - mark_threshold: 2 - combination_method: 1 - track_unknown_space: true #true needed for disabling global path planning through unknown space - obstacle_range: 4.0 - raytrace_range: 3.0 - publish_voxel_map: true - observation_sources: scan bump - scan: - data_type: PointCloud2 - topic: cloud_in - marking: true - clearing: true - min_obstacle_height: 0.0 - max_obstacle_height: 2 - bump: - data_type: PointCloud2 - topic: mobile_base/sensors/bumper_pointcloud - marking: true - clearing: false - min_obstacle_height: 0.0 - max_obstacle_height: 0.15 - # for debugging only, let's you see the entire voxel grid - -#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns -inflation_layer: - enabled: true - cost_scaling_factor: 8.0 # exponential rate at which the obstacle cost drops off (default: 10) - inflation_radius: 0.22 # max. distance from an obstacle at which costs are incurred for planning paths. - -static_layer: - enabled: true - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dummy.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dummy.yaml deleted file mode 100755 index 89f2356..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dummy.yaml +++ /dev/null @@ -1 +0,0 @@ -#A dummy file loaded when no custom param file is given diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dwa_local_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dwa_local_planner_params.yaml deleted file mode 100755 index 4fb4669..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dwa_local_planner_params.yaml +++ /dev/null @@ -1,57 +0,0 @@ -DWAPlannerROS: - -# Robot Configuration Parameters - Kobuki - max_vel_x: 0.2 # 0.55 - min_vel_x: 0.0 - - max_vel_y: 0.0 # diff drive robot - min_vel_y: 0.0 # diff drive robot - - max_trans_vel: 0.5 # choose slightly less than the base's capability - min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity - trans_stopped_vel: 0.05 - - # Warning! - # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities - # are non-negligible and small in place rotational velocities will be created. - - max_rot_vel: 2.0 # choose slightly less than the base's capability - min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity - rot_stopped_vel: 0.4 - - acc_lim_x: 2.0 # maximum is theoretically 2.0, but we - acc_lim_theta: 2.0 - acc_lim_y: 0.0 # diff drive robot - -# Goal Tolerance Parameters - yaw_goal_tolerance: 0.40 # 0.05 - xy_goal_tolerance: 0.17 # 0.10 - latch_xy_goal_tolerance: true - -# Forward Simulation Parameters - sim_time: 1.7 # 1.7 - vx_samples: 3 # 3 - vy_samples: 0 # diff drive robot, there is only one sample - vtheta_samples: 20 # 20 - -# Trajectory Scoring Parameters - path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan - goal_distance_bias: 0.01 # 24.0 - weighting for how much it should attempt to reach its goal - occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles - forward_point_distance: 0.12 # 0.325 - how far along to place an additional scoring point - stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. - scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint - max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. - -# Oscillation Prevention Parameters - oscillation_reset_dist: 0.00 # 0.02 - how far to travel before resetting oscillation flags - oscillation_reset_angle: 0.0 # 0.2 - how far to rotate before resetting oscillation flags - -# Debugging - publish_traj_pc : true - publish_cost_grid_pc: true - global_frame_id: odom - - -# Differential-drive robot configuration - necessary? - holonomic_robot: false diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_costmap_params.yaml deleted file mode 100755 index 897c55b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_costmap_params.yaml +++ /dev/null @@ -1,18 +0,0 @@ -global_costmap: - global_frame: /map - robot_base_frame: /base_footprint - update_frequency: 25 - publish_frequency: 5 - static_map: true - rolling_window: false - width: 20.0 - height: 10.0 - always_send_full_costmap: true - origin_x: -5.0 - origin_y: -5.0 - resolution: 0.10 - transform_tolerance: 5 - plugins: - - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_planner_params.yaml deleted file mode 100755 index 72a7a23..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_planner_params.yaml +++ /dev/null @@ -1,20 +0,0 @@ - -GlobalPlanner: # Also see: http://wiki.ros.org/global_planner - old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false - use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true - use_dijkstra: true # Use dijkstra's algorithm. Otherwise, A*, default true - use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false - - allow_unknown: true # Allow planner to plan through unknown space, default true - #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work - planner_window_x: 0.0 # default 0.0 - planner_window_y: 0.0 # default 0.0 - default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 - - publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 - planner_costmap_publish_frequency: 0.0 # default 0.0 - - lethal_cost: 253 # default 253 - neutral_cost: 66 # default 50 - cost_factor: 3.0 # Factor to multiply each cost from costmap by, default 3.0 - publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/local_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/local_costmap_params.yaml deleted file mode 100755 index aee5b05..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/local_costmap_params.yaml +++ /dev/null @@ -1,15 +0,0 @@ -local_costmap: - global_frame: /odom - robot_base_frame: /base_footprint - update_frequency: 20 - publish_frequency: 10 - static_map: false - rolling_window: true - width: 4.0 - height: 4.0 - resolution: 0.02 - transform_tolerance: 1 - plugins: - - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/move_base_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/move_base_params.yaml deleted file mode 100755 index 4bd08a3..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/move_base_params.yaml +++ /dev/null @@ -1,66 +0,0 @@ -# Move base node parameters. For full documentation of the parameters in this file, please see -# -# http://www.ros.org/wiki/move_base -# -shutdown_costmaps: false - -controller_frequency: 5.0 -controller_patience: 3.0 - - -planner_frequency: 1.0 -planner_patience: 5.0 - -oscillation_timeout: 0.0 -oscillation_distance: 0.2 - -# local planner - default is trajectory rollout -base_local_planner: "dwa_local_planner/DWAPlannerROS" - -base_global_planner: "navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner - - -#We plan to integrate recovery behaviors for turtlebot but currently those belong to gopher and still have to be adapted. -## recovery behaviors; we avoid spinning, but we need a fall-back replanning -recovery_behavior_enabled: true - -#conservative_reset_dist: 0.1 - -conservative_reset: - layer_names: - - obstacle_layer - -aggressive_reset: - layer_names: - - obstacle_layer - -recovery_behaviors: - #- name: 'super_conservative_reset1' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'conservative_reset1' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'aggressive_reset1' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - - name: 'clearing_rotation1' - type: 'rotate_recovery/RotateRecovery' - #- name: 'super_conservative_reset2' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'conservative_reset2' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - #- name: 'aggressive_reset2' - #type: 'clear_costmap_recovery/ClearCostmapRecovery' - - name: 'clearing_rotation2' - type: 'rotate_recovery/RotateRecovery' - -#super_conservative_reset1: - #reset_distance: 3.0 -#conservative_reset1: - #reset_distance: 1.5 -#aggressive_reset1: - #reset_distance: 0.0 -#super_conservative_reset2: - #reset_distance: 3.0 -#conservative_reset2: - #reset_distance: 1.5 -#aggressive_reset2: - #reset_distance: 0.0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/navfn_global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/navfn_global_planner_params.yaml deleted file mode 100755 index a0b6bea..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/navfn_global_planner_params.yaml +++ /dev/null @@ -1,10 +0,0 @@ - -NavfnROS: - visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default false - allow_unknown: false #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true - #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work - planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 - planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0 - - default_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 - #The area is always searched, so could be slow for big values diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/radar_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/radar_costmap_params.yaml deleted file mode 100755 index ba6b32d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/radar_costmap_params.yaml +++ /dev/null @@ -1,13 +0,0 @@ -local_costmap: - obstacle_layer: - scan: - topic: xyzi_filt_out -global_costmap: - obstacle_layer: - scan: - topic: xyzi_filt_out - inflation_layer: - cost_scaling_factor: 9.8 # exponential rate at which the obstacle cost drops off (default: 10) - inflation_radius: 0.37 # max. distance from an obstacle at which costs are incurred for planning paths. - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp deleted file mode 100755 index 1b4b167..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp +++ /dev/null @@ -1,114 +0,0 @@ -/********************************************************************* -* Software License Agreement (BSD License) -* -* Copyright (c) 2011-2012, Willow Garage, Inc. -* All rights reserved. -* -* Redistribution and use in source and binary forms, with or without -* modification, are permitted provided that the following conditions -* are met: -* -* * Redistributions of source code must retain the above copyright -* notice, this list of conditions and the following disclaimer. -* * Redistributions in binary form must reproduce the above -* copyright notice, this list of conditions and the following -* disclaimer in the documentation and/or other materials provided -* with the distribution. -* * Neither the name of the Willow Garage nor the names of its -* contributors may be used to endorse or promote products derived -* from this software without specific prior written permission. -* -* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -* FOOTPRINTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -* POSSIBILITY OF SUCH DAMAGE. -*********************************************************************/ - -#include -#include -#include -#include - -class LaserFootprintFilter -{ -public: - LaserFootprintFilter() - : nh_("~"), listener_(ros::Duration(10)) - { - scan_filtered_pub_ = nh_.advertise("/scan_filtered", 1); - scan_sub_ = nh_.subscribe("/scan", 1000, &LaserFootprintFilter::update, this); - - nh_.param("footprint_inscribed_radius", inscribed_radius_, 0.16495*1.1); - nh_.param("base_frame", base_frame_, "/base_link"); - } - - void update(const sensor_msgs::LaserScan& input_scan) - { - sensor_msgs::LaserScan filtered_scan; - filtered_scan = input_scan; - - double angle = filtered_scan.angle_min - filtered_scan.angle_increment; - geometry_msgs::PointStamped p_input; - p_input.header = input_scan.header; - - for(size_t i=0; i < filtered_scan.ranges.size(); i++) - { - angle += filtered_scan.angle_increment; - if(filtered_scan.ranges[i] >= filtered_scan.range_max) continue; - - p_input.point.x = cos(angle) * filtered_scan.ranges[i]; - p_input.point.y = sin(angle) * filtered_scan.ranges[i]; - - geometry_msgs::PointStamped p_transformed; - try{ - listener_.transformPoint(base_frame_, p_input, p_transformed); - }catch(tf::TransformException &ex){ - ROS_ERROR("Received an exception trying to transform a point: %s", ex.what()); - return; - } - - if( inFootprint(p_transformed) ) - { - filtered_scan.ranges[i] = filtered_scan.range_max + 1.0; - } - - } - - scan_filtered_pub_.publish(filtered_scan); - } - - // Filter out circular area - bool inFootprint(const geometry_msgs::PointStamped& scan_pt) - { - // Do a radius instead of a box. - if (sqrt(scan_pt.point.x*scan_pt.point.x + scan_pt.point.y*scan_pt.point.y) > inscribed_radius_) - return false; - return true; - } - -private: - ros::NodeHandle nh_; - tf::TransformListener listener_; - double inscribed_radius_; - std::string base_frame_; - ros::Publisher scan_filtered_pub_; - ros::Publisher debug_pub_; - ros::Subscriber scan_sub_; -}; - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "laser_footprint_filter"); - - LaserFootprintFilter filter; - ros::spin(); -} - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject deleted file mode 100755 index d5f39f9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore deleted file mode 100755 index 5cb9637..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/bin -/lib diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/CHANGELOG.rst deleted file mode 100755 index 7cb7f85..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/CHANGELOG.rst +++ /dev/null @@ -1,126 +0,0 @@ -========= -Changelog -========= - -2.3.7 (2016-11-01) ------------------- - -2.3.6 (2016-06-29) ------------------- - -2.3.5 (2016-06-28) ------------------- - -2.3.4 (2016-06-28) ------------------- -* disabling turtlebot_panorama due to it not compiling -* use rocon_apps/make_a_map as parent closes `#139 `_ -* Update map_manager to apply world canvas. -* add waypoint_nav rapp -* Contributors: Jihoon Lee, Patrick Chin, Tully Foote - -2.3.3 (2015-03-23) ------------------- -* change default topic name of scan -* update map nav to apply world canvas and map navigation android app -* update make_a_map to apply world canvas -* Contributors: dwlee - -2.3.2 (2015-01-21) ------------------- -* add robot_pose_publisher as run depend closes `#131 `_ -* Contributors: Jihoon Lee - -2.3.1 (2014-12-30) ------------------- - -2.3.0 (2014-12-30) ------------------- -* uncomment move_base `#129 `_ -* disable map_store `#126 `_ -* sim to simulation param -* fixing image topic for simulation -* sim turtlebot make a map works -* add video teleop with sim -* follower in simulation -* it uses rect_color -* remove map_store dependency -* updates -* updates -* update make a map rapp launch -* update interface -* typo fix -* update type info for interfaces -* ps3_teleop uses relative path -* relative path on all rapps -* rename teleop to video_teleop -* turtlebot teleop uses video_teleop virtual app. and use public interface -* remove deprecated attribute. pairing_clients from panorama -* Update/fix comments -* Update map_nav launch for use with environment hooks -* Add missing required node dependency -* Change map_serve to pull from environment variable -* Turtlebot_rapps/teleop to implement rocon_apps/teleop -* Typo fix -* Moved to generic 'virtual_joystick' -* Remove map_server for make_a_map - not needed -* Rolled android and qt make_a_map and map_nav into one -* Remove capabilities dependancy for follower, graveyard capabilities version. -* Give map_nav and make_a_map default map for Qt -* Small typo fix to re-add map-store -* Moved to seperate android/qt launchers and rapps to remove error as android requires mongodb -* Updated package.xml to include new and refactored rapps -* Refactored android_xxx to remove android -* turtlebot_core_apps -> turtlebot_rapps, `#86 `_ -* Contributors: Daniel Stonier, Jihoon Lee, Kent Sommer, dwlee, kentsommer - -2.2.4 (2013-10-14) ------------------- -* Use 27018 port (27017 is the default) in all apps avoid error 48 - conflicts. - -2.2.3 (2013-09-27) ------------------- - -2.2.2 (2013-09-26) ------------------- - -2.2.1 (2013-09-23) ------------------- -* Set of fixes to make it work with Android apps. - -2.2.0 (2013-08-30) ------------------- -* Remove redundant rapp information. -* Add auto shutdown functionality on auto_docking. -* Add bugtracker and repo info URLs. -* Rename include launchers to *.launch.xml. -* Changelogs at package level. -* Use a private warehouse port. - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-08-09) ------------------- -* Fix namespaces for auto docking app -* Add various changes to enable android apps (w/ and w/o pairing mode) -* Add rapp files for map manager app -* Update interface files for ps3 & xbox360 rapps -* Update panorama rapp files -* Add linux.ros. to platform name -* Rename all .app extensions as .rapp -* Remove our beloved chirp app. Don't worry; it's now included on rocon_apps - -2.1.0 (2013-07-19) ------------------- -* Catkinized -* map_store is now catkinized -* Remove legacy code -* Prepare for new app manager - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_apps/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/CMakeLists.txt deleted file mode 100755 index 9ea9e5b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_rapps) - -find_package(catkin REQUIRED COMPONENTS) - -catkin_package() - -install(DIRECTORY rapps - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY media - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/android_teleop.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/android_teleop.png deleted file mode 100755 index fa5a205..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/android_teleop.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/auto_docking.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/auto_docking.jpg deleted file mode 100755 index d69aad0..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/auto_docking.jpg and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/joystick.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/joystick.png deleted file mode 100755 index d21a468..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/joystick.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/map.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/map.jpg deleted file mode 100755 index da95d5f..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/map.jpg and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/panorama.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/panorama.png deleted file mode 100755 index 9bd61c0..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/panorama.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/panorama_transparent_bg.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/panorama_transparent_bg.png deleted file mode 100755 index 2d2cd0e..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/panorama_transparent_bg.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/readme.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/readme.txt deleted file mode 100755 index 610ed0c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/readme.txt +++ /dev/null @@ -1 +0,0 @@ -Original media files - these are used by the android apps and inserted in the bubble icons themselves. diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/ros.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/ros.png deleted file mode 100755 index c7956d1..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/ros.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/template.xcf b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/template.xcf deleted file mode 100755 index f18591c..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/template.xcf and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/template_highres.xcf b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/template_highres.xcf deleted file mode 100755 index cf7551d..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/media/template_highres.xcf and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/package.xml deleted file mode 100755 index 4da9667..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/package.xml +++ /dev/null @@ -1,54 +0,0 @@ - - turtlebot_rapps - 2.3.7 - The core set of turtlebot 'app manager' apps are defined in this package. - - Daniel Stonier - - BSD - - http://ros.org/wiki/turtlebot_rapps - https://github.com/turtlebot/turtlebot_apps - https://github.com/turtlebot/turtlebot_apps/issues - - catkin - - kobuki_auto_docking - turtlebot_bringup - turtlebot_follower - turtlebot_navigation - - turtlebot_teleop - robot_pose_publisher - - - warehouse_ros - - world_canvas_server - tf - - - compressed_image_transport - topic_tools - - rapps/make_a_map/make_a_map.rapp - rapps/make_a_map/qt_make_a_map.rapp - - rapps/map_nav/map_nav.rapp - rapps/map_nav/qt_map_nav.rapp - - rapps/waypoint_nav/waypoint_nav.rapp - - rapps/map_manager/map_manager.rapp - rapps/teleop/teleop.rapp - rapps/video_teleop/video_teleop.rapp - rapps/xbox360_teleop/xbox360_teleop.rapp - rapps/ps3_teleop/ps3_teleop.rapp - - rapps/auto_docking/auto_docking.rapp - - rapps/follower/follower.rapp - rapps/3dsensor/3dsensor.rapp - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.interface deleted file mode 100755 index e0b2550..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.interface +++ /dev/null @@ -1,5 +0,0 @@ -publishers: [] -subscribers: [] -services: [] -action_clients: [] -action_servers: [] \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.launch deleted file mode 100755 index d5413bd..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.rapp deleted file mode 100755 index f512a2c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: 3D Sensor -description: See what TurtleBot does! -compatibility: rocon:/turtlebot -launch: 3dsensor.launch -public_interface: 3dsensor.interface -icon: 3dsensor_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor_bubble_icon.png deleted file mode 100755 index 2d37d2a..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/3dsensor/3dsensor_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface deleted file mode 100755 index 978da0b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface +++ /dev/null @@ -1,5 +0,0 @@ -publishers: [] -subscribers: [] -services: [] -action_clients: [] -action_servers: [] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch deleted file mode 100755 index 383f409..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp deleted file mode 100755 index 33f7054..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Auto Docking -description: Makes robot spin until it detects docking base beacon signals; then it follows them to the docking base. -compatibility: rocon:/turtlebot -launch: auto_docking.launch -public_interface: auto_docking.interface -icon: auto_docking_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png deleted file mode 100755 index d92d2d1..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface deleted file mode 100755 index 115f985..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface +++ /dev/null @@ -1,9 +0,0 @@ -publishers: - - name: camera/rgb/image_color/compressed_throttle - type: sensor_msgs/CompressedImage -subscribers: [] -services: - - name: turtlebot_follower/change_state - type: turtlebot_msgs/SetFollowState -action_clients: [] -action_servers: [] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch deleted file mode 100755 index d1199cc..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp deleted file mode 100755 index b94b552..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Follower -description: Take the TurtleBot for a stroll. TurtleBot will follow whatever is in front of it. -compatibility: rocon:/turtlebot -launch: follower.launch -public_interface: follower.interface -icon: follower_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png deleted file mode 100755 index 1045ff6..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch deleted file mode 100755 index 84fb0d2..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp deleted file mode 100755 index f792957..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Make A Map -description: Make a map by driving a TurtleBot from an Android device. -compatibility: rocon:/turtlebot -launch: make_a_map.launch -icon: make_a_map_bubble_icon.png -parent_name: rocon_apps/make_a_map diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png deleted file mode 100755 index 4c5d744..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface deleted file mode 100755 index 4ac7c89..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface +++ /dev/null @@ -1,13 +0,0 @@ -publishers: [] -subscribers: [] -services: - - name: delete_map - type: world_canvas_msgs/DeleteMap - - name: list_maps - type: world_canvas_msgs/ListMaps - - name: publish_map - type: world_canvas_msgs/PublishMap - - name: rename_map - type: world_canvas_msgs/RenameMap -action_clients: [] -action_servers: [] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch deleted file mode 100755 index b77f1d0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp deleted file mode 100755 index fc93f3c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Map Manager -description: Manage the map database for your TurtleBot maps -compatibility: rocon:/turtlebot -launch: map_manager.launch -public_interface: map_manager.interface -icon: map_manager_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png deleted file mode 100755 index 2d37d2a..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface deleted file mode 100755 index 89e0b38..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface +++ /dev/null @@ -1,33 +0,0 @@ -publishers: - - name: /teleop/compressed_image - type: sensor_msgs/CompressedImage - - name: scan - type: sensor_msgs/LaserScan - - name: /tf - type: tf2_msgs/TFMessage - - name: tf_changes - type: tf2_msgs/TFMessage - - name: /tf_changes - type: tf2_msgs/TFMessage - - name: map - type: nav_msgs/OccupancyGrid - - name: amcl_pose - type: geometry_msgs/PoseWithCovarianceStamped - - name: move_base/TrajectoryPlannerROS/global_plan - type: nav_msgs/Path -subscribers: - - name: /teleop/cmd_vel - type: geometry_msgs/Twist - - name: initialpose - type: geometry_msgs/PoseWithCovarianceStamped - - name: move_base_simple/goal - type: geometry_msgs/PoseStamped - - name: move_base/goal - type: move_base_msgs/MoveBaseActionGoal -services: - - name: list_maps - type: world_canvas_msgs/ListMaps - - name: publish_map - type: world_canvas_msgs/PublishMap -action_clients: [] -action_servers: [] \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch deleted file mode 100755 index 5c97d9f..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch +++ /dev/null @@ -1,80 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - {source_frame: base_footprint, target_frame: map} - - {source_frame: camera_depth_frame, target_frame: map} - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp deleted file mode 100755 index 160031f..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Map Nav -description: Drive a turtlebot around a pre-made map from an Android device. -compatibility: rocon:/turtlebot -launch: map_nav.launch -public_interface: map_nav.interface -icon: map_nav_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png deleted file mode 100755 index 2d37d2a..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface deleted file mode 100755 index b5a4d8f..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface +++ /dev/null @@ -1,7 +0,0 @@ -publishers: - - name: turtlebot_panorama/panorama/compressed - type: sensor_msgs/CompressedImage -subscribers: [] -services: - - name: turtlebot_panorama/take_pano - type: turtlebot_msgs/TakePanorama diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch deleted file mode 100755 index 916175a..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp deleted file mode 100755 index e30bc1d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Panorama -description: Turtlebot makes a 360 degree panorama image -compatibility: rocon:/turtlebot -launch: panorama.launch -public_interface: panorama.interface -icon: panorama_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png deleted file mode 100755 index ff9b5b8..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png deleted file mode 100755 index 13eed1a..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface deleted file mode 100755 index 978da0b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface +++ /dev/null @@ -1,5 +0,0 @@ -publishers: [] -subscribers: [] -services: [] -action_clients: [] -action_servers: [] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch deleted file mode 100755 index 2f35293..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp deleted file mode 100755 index be80f93..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: PS3 Teleop -description: Control the TurtleBot with a PlayStation 3 Joystick. -compatibility: rocon:/turtlebot -launch: ps3_teleop.launch -public_interface: ps3_teleop.interface -icon: ps3_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png deleted file mode 100755 index 647ac05..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch deleted file mode 100755 index 28d9975..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp deleted file mode 100755 index 617f35b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Teleop -description: Drive a turtlebot with a touch joystick and video feed. -compatibility: rocon:/turtlebot -launch: video_teleop.launch -icon: teleop_bubble_icon.png -parent_name: rocon_apps/video_teleop diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml deleted file mode 100755 index 372c98a..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml +++ /dev/null @@ -1,3 +0,0 @@ -global_costmap: - static_layer: - first_map_only: true diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch deleted file mode 100755 index 8736068..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.rapp deleted file mode 100755 index 56accf1..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Waypoint Navigation -description: TurtleBot navigates around a set of waypoints -compatibility: rocon:/turtlebot -launch: waypoint_nav.launch -parent_name: rocon_apps/waypoint_nav -#icon: location_nav.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_bubble_icon.png deleted file mode 100755 index a080ec0..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_bubble_icon.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.interface deleted file mode 100755 index 978da0b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.interface +++ /dev/null @@ -1,5 +0,0 @@ -publishers: [] -subscribers: [] -services: [] -action_clients: [] -action_servers: [] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch deleted file mode 100755 index c87465d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch +++ /dev/null @@ -1,3 +0,0 @@ - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp deleted file mode 100755 index e2be689..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp +++ /dev/null @@ -1,6 +0,0 @@ -display: Xbox360 Teleop -description: Control the TurtleBot with an xbox360 joystick. -compatibility: rocon:/turtlebot -launch: xbox360_teleop.launch -public_interface: xbox360_teleop.interface -icon: xbox360_bubble_icon.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/.cproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/.cproject diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/.project old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/.project diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.pydevproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/.pydevproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.pydevproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/.pydevproject diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/CHANGELOG.rst diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/CMakeLists.txt diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/env-hooks/25.turtlebot.sh.em b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/env-hooks/25.turtlebot.sh.em similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/env-hooks/25.turtlebot.sh.em rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/env-hooks/25.turtlebot.sh.em diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/icons/turtlebot2.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/icons/turtlebot2.png old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/icons/turtlebot2.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/icons/turtlebot2.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/admin.interactions b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/admin.interactions old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/admin.interactions rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/admin.interactions diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/documentation.interactions b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/documentation.interactions old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/documentation.interactions rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/documentation.interactions diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/pairing.interactions b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/pairing.interactions old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/pairing.interactions rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/pairing.interactions diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/visualisation.interactions b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/visualisation.interactions old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/interactions/visualisation.interactions rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/interactions/visualisation.interactions diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/3dsensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/3dsensor.launch old mode 100755 new mode 100644 similarity index 91% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/3dsensor.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/3dsensor.launch index 313b613..1bcd17d --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/3dsensor.launch +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/3dsensor.launch @@ -18,7 +18,7 @@ into the "camera" namespace, and it is prepended to tf frame ids. --> - + @@ -37,7 +37,7 @@ - + @@ -57,22 +57,22 @@ - --> - + ---> + - --> + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/concert_client.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/concert_client.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/concert_client.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/concert_client.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/concert_minimal.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/concert_minimal.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/concert_minimal.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/concert_minimal.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/3dsensor/radar.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/astra.launch.xml old mode 100755 new mode 100644 similarity index 88% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/3dsensor/radar.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/astra.launch.xml index ce9fc6a..00485dc --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/3dsensor/radar.launch.xml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/astra.launch.xml @@ -19,19 +19,19 @@ - + - - - --> + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/asus_xtion_pro.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/asus_xtion_pro.launch.xml new file mode 100644 index 0000000..2fff142 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/asus_xtion_pro.launch.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml new file mode 100644 index 0000000..2fff142 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/kinect.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/kinect.launch.xml new file mode 100644 index 0000000..c659a8b --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/kinect.launch.xml @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/r200.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/r200.launch.xml new file mode 100644 index 0000000..312b9c7 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/3dsensor/r200.launch.xml @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/create/mobile_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/create/mobile_base.launch.xml new file mode 100644 index 0000000..c30447f --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/create/mobile_base.launch.xml @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml new file mode 100644 index 0000000..121d333 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot.launch.xml new file mode 100644 index 0000000..085dd57 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot.launch.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/roomba/mobile_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/roomba/mobile_base.launch.xml new file mode 100644 index 0000000..e6d3384 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/roomba/mobile_base.launch.xml @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/package.xml old mode 100755 new mode 100644 similarity index 92% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/package.xml index a32315a..5299fd6 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/package.xml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/package.xml @@ -2,7 +2,7 @@ turtlebot_bringup 2.4.2 - turtlebot_bringup provides roslaunch scripts for starting the TurtleBot base functionality. + turtlebot_bringup provides roslaunch scripts for starting the TurtleBot base functionality. Tully Foote Daniel Stonier @@ -27,8 +27,7 @@ robot_state_publisher robot_pose_ekf diagnostic_aggregator - openni2_launch - freenect_launch + openni_launch laptop_battery_monitor rocon_app_manager rocon_bubble_icons diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/3dsensor.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/3dsensor.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/create/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/create/capability_providers.yaml new file mode 100644 index 0000000..389577a --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/create/capability_providers.yaml @@ -0,0 +1 @@ +# default providers for the Create \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/create/diagnostics.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/create/diagnostics.yaml new file mode 100644 index 0000000..1ad2fb0 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/create/diagnostics.yaml @@ -0,0 +1,28 @@ +pub_rate: 1.0 # Optional +base_path: '' # Optional, prepended to all diagnostic output +analyzers: + nodes: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Nodes' + timeout: 5.0 + contains: ['Node'] + mode: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Mode' + timeout: 5.0 + startswith: ['Operating Mode'] + sensors: + type: GenericAnalyzer + path: 'Sensors' + timeout: 5.0 + startswith: ['Cliff Sensor', 'Wall Sensor', 'Gyro Sensor'] + power: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Power System' + timeout: 5.0 + startswith: ['Battery', 'Charging Sources', 'Laptop Battery'] + digital_io: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Digital IO' + timeout: 5.0 + startswith: ['Digital Outputs'] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kinect/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kinect/capability_providers.yaml new file mode 100644 index 0000000..c1c24e4 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kinect/capability_providers.yaml @@ -0,0 +1,3 @@ +# default capability providers for the Microsoft Kinect +defaults: + 'std_capabilities/RGBDSensor': 'turtlebot_capabilities/kinect_rgbd_sensor' \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/mux.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/mux.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/mux.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/mux.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/roomba/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/roomba/capability_providers.yaml new file mode 100644 index 0000000..c890b29 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/roomba/capability_providers.yaml @@ -0,0 +1 @@ +# default providers for the Roomba \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/roomba/diagnostics.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/roomba/diagnostics.yaml new file mode 100644 index 0000000..1ad2fb0 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/roomba/diagnostics.yaml @@ -0,0 +1,28 @@ +pub_rate: 1.0 # Optional +base_path: '' # Optional, prepended to all diagnostic output +analyzers: + nodes: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Nodes' + timeout: 5.0 + contains: ['Node'] + mode: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Mode' + timeout: 5.0 + startswith: ['Operating Mode'] + sensors: + type: GenericAnalyzer + path: 'Sensors' + timeout: 5.0 + startswith: ['Cliff Sensor', 'Wall Sensor', 'Gyro Sensor'] + power: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Power System' + timeout: 5.0 + startswith: ['Battery', 'Charging Sources', 'Laptop Battery'] + digital_io: + type: diagnostic_aggregator/GenericAnalyzer + path: 'Digital IO' + timeout: 5.0 + startswith: ['Digital Outputs'] diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/xtion/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/xtion/capability_providers.yaml new file mode 100644 index 0000000..2a7f894 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/xtion/capability_providers.yaml @@ -0,0 +1,3 @@ +# default capability providers for the ASUS Xtion Pro Live +defaults: + 'std_capabilities/RGBDSensor': 'turtlebot_capabilities/xtion_rgbd_sensor' \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/zeroconf.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/zeroconf.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/zeroconf.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/param/zeroconf.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities.rosinstall b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities.rosinstall new file mode 100644 index 0000000..699046a --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities.rosinstall @@ -0,0 +1,101 @@ +############################################################################## +# +# Source installation instructions at: +# +# http://www.ros.org/wiki/turtlebot/Tutorials/hydro/Source%20Installation +# +############################################################################## + +# Kobuki / Yujin stacks + +- git: + uri: https://github.com/yujinrobot/kobuki_desktop.git + local-name: kobuki_desktop + version: hydro-devel + +- git: + uri: https://github.com/yujinrobot/yujin_ocs.git + local-name: yujin_ocs + version: hydro-devel + +- git: + uri: https://github.com/yujinrobot/kobuki_msgs.git + local-name: kobuki_msgs + version: hydro-devel + +- git: + uri: https://github.com/yujinrobot/kobuki_core.git + local-name: kobuki_core + version: hydro-devel + +- git: + uri: https://github.com/yujinrobot/kobuki.git + local-name: kobuki + version: capabilities_integration + +# Create stacks + +- git: + uri: https://github.com/turtlebot/turtlebot_create.git + local-name: turtlebot_create + version: hydro-devel + +- git: + uri: https://github.com/turtlebot/turtlebot_create_desktop.git + local-name: turtlebot_create_desktop + version: hydro-devel + +# Turtlebot stacks + +- git: + uri: https://github.com/turtlebot/turtlebot_msgs.git + local-name: turtlebot_msgs + version: hydro-devel + +- git: + uri: https://github.com/turtlebot/turtlebot.git + local-name: turtlebot + version: capabilities_integration + +- git: + uri: https://github.com/turtlebot/turtlebot_simulator.git + local-name: turtlebot_simulator + version: hydro-devel + +- git: + uri: https://github.com/turtlebot/turtlebot_apps.git + local-name: turtlebot_apps + version: capabilities_integration + +- git: + uri: https://github.com/turtlebot/turtlebot_viz.git + local-name: turtlebot_viz + version: hydro-devel + +# ROCON stacks + +- git: + uri: https://github.com/robotics-in-concert/rocon_app_platform.git + local-name: rocon_app_platform + version: hydro-devel + +- git: + uri: https://github.com/robotics-in-concert/rocon_msgs.git + local-name: rocon_msgs + version: hydro-devel + +# ROCON forks for now, change to OSRF when stable +- git: + uri: https://github.com/robotics-in-concert/capabilities.git + local-name: capabilities + version: master + +- git: + uri: https://github.com/robotics-in-concert/std_capabilities.git + local-name: std_capabilities + version: initial_specs + +- git: + uri: https://github.com/robotics-in-concert/rqt_capabilities.git + local-name: rqt_capabilities + version: master diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/.cproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/.cproject diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/.project old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/.project diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.pydevproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/.pydevproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.pydevproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/.pydevproject diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/CHANGELOG.rst diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/CMakeLists.txt diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/package.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/package.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/depthimage_to_laserscan.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/depthimage_to_laserscan.yaml new file mode 100644 index 0000000..b327360 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/depthimage_to_laserscan.yaml @@ -0,0 +1,11 @@ +%YAML 1.1 +--- +name: depthimage_to_laserscan +spec_version: 1 +spec_type: provider +description: 'Implements the standard LaserSensor capability for the TurtleBot by providing a fake laser scan using the depth image from the 3D sensor.' +implements: std_capabilities/LaserSensor +launch_file: 'launch/depthimage_to_laserscan.launch' +depends_on: + 'std_capabilities/RGBDSensor': + provider: 'turtlebot_capabilities/kinect_rgbd_sensor' diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/depthimage_to_laserscan.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/depthimage_to_laserscan.launch new file mode 100644 index 0000000..54339cb --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/depthimage_to_laserscan.launch @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/rgbd_sensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/rgbd_sensor.launch new file mode 100644 index 0000000..659f76c --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/rgbd_sensor.launch @@ -0,0 +1,9 @@ + + + + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/rgbd_sensor.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/rgbd_sensor.yaml new file mode 100644 index 0000000..cd6f55b --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/rgbd_sensor.yaml @@ -0,0 +1,20 @@ +%YAML 1.1 +--- +name: rgbd_sensor +spec_version: 1 +spec_type: provider +description: 'Implements the standard RGBDSensor capability on the TurtleBot.' +implements: std_capabilities/RGBDSensor +launch_file: 'launch/rgbd_sensor.launch' +depends_on: + 'turtlebot_capabilities/TurtleBotBringup' +remappings: + topics: + '/rgbd_sensor/rgb/camera_info': '/camera/rgb/camera_info' + '/rgbd_sensor/rgb/image_raw': '/camera/rgb/image_raw' + '/rgbd_sensor/rgb/image_color': '/camera/rgb/image_color' + '/rgbd_sensor/rgb/image_color/compressed': '/camera/rgb/image_color/compressed' + '/rgbd_sensor/depth/camera_info': '/camera/depth/camera_info' + '/rgbd_sensor/depth/image_raw': '/camera/depth/image_raw' + '/rgbd_sensor/depth/points': '/camera/depth/points' + '/rgbd_sensor/depth_registered/points': '/camera/depth_registered/points' diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/.cproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/.cproject diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/.project old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/.project diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/CHANGELOG.rst diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/CMakeLists.txt diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/README.md old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/README.md rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/README.md diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/0_xtion_pro.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/0_xtion_pro.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/0_xtion_pro.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/0_xtion_pro.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/astra.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/astra.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/astra.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/astra.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/astra.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/astra.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/astra.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/astra.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.png old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/asus_xtion_pro_live.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.dae index 70b9630..7ad8a97 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.dae @@ -9,7 +9,6 @@ 2013-03-07T11:38:26 2013-03-07T11:38:26 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.tga b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.tga old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/kinect.tga rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/kinect.tga diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200.dae index c1ebc6a..db10cde --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200.dae @@ -7,7 +7,6 @@ 2015-05-31T08:41:34Z 2015-05-31T08:41:34Z - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200_bracket.stl b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200_bracket.stl old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200_bracket.stl rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200_bracket.stl diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200_bracket_end.stl b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200_bracket_end.stl old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/r200_bracket_end.stl rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/r200_bracket_end.stl diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae index 55193ac..a52a933 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae @@ -8,7 +8,6 @@ 2015-02-26T12:05:50 2015-02-26T12:05:50 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae index 75c2201..f8d00cf --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae @@ -9,7 +9,6 @@ 2015-03-16T14:25:40 2015-03-16T14:25:40 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-02421-8000-RA_Turtlebot_F-F_Standoff_color.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-1000-RA_Turtlebot_M-F_Standoff_color.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04552-2000-RA_Turtlebot_M-F_Standoff_color.png diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.3ds b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.3ds old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.3ds rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.3ds diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.dae old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/68-04556-RA_Kinect_Standoff_Assy.dae diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.dae index caeaba1..e1409c8 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.dae @@ -11,7 +11,6 @@ 2011-03-08T12:41:12.567344 2011-03-08T12:41:12.567357 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.tga b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.tga old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.tga rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_0_logo.tga diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.dae index 0181da8..6da285c --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.dae @@ -11,7 +11,6 @@ 2011-03-08T12:40:21.485977 2011-03-08T12:40:21.485998 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.tga b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.tga old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.tga rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_1_logo.tga diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.dae index bf53270..489c262 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.dae @@ -11,7 +11,6 @@ 2011-03-08T12:41:39.033566 2011-03-08T12:41:39.033583 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.tga b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.tga old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.tga rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/circles/plate_2_logo.tga diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_pole.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_pole.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_pole.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_pole.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_stack.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_stack.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_stack.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/1f_stack.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_pole.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_pole.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_pole.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_pole.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_stack.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_stack.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_stack.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/2f_stack.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_pole.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_pole.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_pole.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_pole.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack1.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack1.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack1.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/3f_stack1.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole_old.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole_old.jpg old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole_old.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/images/kinect_pole_old.jpg diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae index e568ffc..4b143dd --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_bottom.dae @@ -9,7 +9,6 @@ 2013-02-26T15:25:28 2013-02-26T15:25:28 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae index b30260d..253c5aa --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_middle.dae @@ -9,7 +9,6 @@ 2013-02-26T15:26:38 2013-02-26T15:26:38 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae index ca80acf..c4df569 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae @@ -9,7 +9,6 @@ 2013-02-26T15:27:15 2013-02-26T15:27:15 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae index 531e164..8decdf2 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae @@ -9,7 +9,6 @@ 2013-02-26T15:22:10 2013-02-26T15:22:10 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae index febaa7b..8941abe --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae @@ -9,7 +9,6 @@ 2013-03-08T09:58:31 2013-03-08T09:58:31 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae index d46285b..b738a9f --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae @@ -9,7 +9,6 @@ 2013-02-26T15:22:55 2013-02-26T15:22:55 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae index bbe4139..61d2b83 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae @@ -9,7 +9,6 @@ 2013-02-26T15:23:31 2013-02-26T15:23:31 - Z_UP diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/package.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/package.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/create_circles_asus_xtion_pro.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/create_circles_asus_xtion_pro.urdf.xacro new file mode 100644 index 0000000..39492e2 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/create_circles_asus_xtion_pro.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/create_circles_kinect.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/create_circles_kinect.urdf.xacro new file mode 100644 index 0000000..39743e6 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/create_circles_kinect.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro new file mode 100644 index 0000000..1fd1e73 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_astra.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro new file mode 100644 index 0000000..95295ee --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro new file mode 100644 index 0000000..3b18fbb --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_asus_xtion_pro_offset.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro new file mode 100644 index 0000000..f8fd376 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_kinect.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro new file mode 100644 index 0000000..deec640 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_r200.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/robots/kobuki_hexagons_radar.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_radar.urdf.xacro similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/robots/kobuki_hexagons_radar.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/kobuki_hexagons_radar.urdf.xacro diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro new file mode 100644 index 0000000..39492e2 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/roomba_circles_asus_xtion_pro.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro new file mode 100644 index 0000000..39743e6 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/robots/roomba_circles_kinect.urdf.xacro @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/scripts/calc_inertia.m b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/scripts/calc_inertia.m old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/scripts/calc_inertia.m rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/scripts/calc_inertia.m diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/test.launch old mode 100755 new mode 100644 similarity index 53% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/test.launch index e7e77f4..6024c37 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test.launch +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/test.launch @@ -1,10 +1,10 @@ - + - + - + - \ No newline at end of file + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/test/test_urdf.cpp old mode 100755 new mode 100644 similarity index 89% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/test/test_urdf.cpp index a22cf6c..1488ee5 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/test/test_urdf.cpp @@ -37,13 +37,13 @@ #include #include -#include -#include -#include -#include -#include -#include -#include +#include +#include +#include +#include +#include +#include +#include #include @@ -63,7 +63,7 @@ int walker( char *result, int& test_result) } while( ( dir = readdir( d ) ) ) { - if( strcmp( dir->d_name, "." ) == 0 || + if( strcmp( dir->d_name, "." ) == 0 || strcmp( dir->d_name, ".." ) == 0 ) { continue; @@ -76,7 +76,7 @@ int walker( char *result, int& test_result) char pwd[MAXPATHLEN]; getcwd( pwd, MAXPATHLEN ); printf("\n\ntesting: %s\n",(std::string(pwd)+"/robots/"+dir_name).c_str()); - runExternalProcess("python `rospack find xacro`/xacro.py", std::string(pwd)+"/robots/"+dir_name+" > `rospack find turtlebot_description`/test/tmp.urdf" ); + runExternalProcess("python `rospack find xacro`/xacro ", std::string(pwd)+"/robots/"+dir_name+" > `rospack find turtlebot_description`/test/tmp.urdf"); test_result = test_result || runExternalProcess("`rospack find urdf_parser`/bin/check_urdf", "`rospack find turtlebot_description`/test/tmp.urdf"); //break; } diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro new file mode 100644 index 0000000..0d630e9 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/astra.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/astra.urdf.xacro new file mode 100644 index 0000000..bcfde1b --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/astra.urdf.xacro @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/kinect.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/kinect.urdf.xacro new file mode 100644 index 0000000..3b85320 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/kinect.urdf.xacro @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/r200.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/r200.urdf.xacro new file mode 100644 index 0000000..203938f --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/r200.urdf.xacro @@ -0,0 +1,161 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + --> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/xtion_pro.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/xtion_pro.urdf.xacro new file mode 100644 index 0000000..7e79cd7 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/sensors/xtion_pro.urdf.xacro @@ -0,0 +1,102 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro old mode 100755 new mode 100644 similarity index 80% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro index 6f8ac23..927b339 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro @@ -163,10 +163,10 @@ - - - - + + + + @@ -199,10 +199,10 @@ - - - - + + + + @@ -234,10 +234,10 @@ - - - - + + + + @@ -269,13 +269,13 @@ - - + + - - - - + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro old mode 100755 new mode 100644 similarity index 79% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro index d950fbb..3d39532 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro @@ -68,7 +68,6 @@ - @@ -106,9 +105,9 @@ - + - + @@ -125,7 +124,7 @@ izz="0.000000360"/> - + - - - - - - + + + + + + @@ -167,11 +166,10 @@ - - - - - + + + + @@ -200,18 +198,15 @@ - - - - - - - - + + + + + + - + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro old mode 100755 new mode 100644 similarity index 99% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro index 04752b1..c5967cd --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro @@ -2,10 +2,8 @@ - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_properties.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_properties.urdf.xacro old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_properties.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot_description/urdf/turtlebot_properties.urdf.xacro diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/README.md deleted file mode 100755 index 47ff99c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/README.md +++ /dev/null @@ -1,3 +0,0 @@ -# Turtlebot Interactions - -This is the evolution of the [turtlebot_viz](https://github.com/turtlebot/turtlebot_viz) stack supporting user side interactions with the turtlebot. It was first released in indigo. diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore deleted file mode 100755 index 378eac2..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore +++ /dev/null @@ -1 +0,0 @@ -build diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/CHANGELOG.rst deleted file mode 100755 index 46ab86e..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/CHANGELOG.rst +++ /dev/null @@ -1,36 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_dashboard -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.1 (2015-03-23) ------------------- - -2.3.0 (2014-12-30) ------------------- - -2.2.2 (2013-10-25) ------------------- -* Unchanged release - -2.2.0 (2013-08-30) ------------------- -* Add bugtracker and repo info URLs. -* Rename launcher includes to xyz.launch.xml. -* Changelogs at package level. - - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-07-23) ------------------- - -2.1.0 (2013-07-16) ------------------- -* Catkinized - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_viz/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/CMakeLists.txt deleted file mode 100755 index 2fa3996..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/CMakeLists.txt +++ /dev/null @@ -1,9 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(turtlebot_dashboard) - -find_package(catkin REQUIRED) - -catkin_package() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/create/dashboard.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/create/dashboard.launch.xml deleted file mode 100755 index 1d758ba..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/create/dashboard.launch.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - - - \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/kobuki/dashboard.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/kobuki/dashboard.launch.xml deleted file mode 100755 index 4178070..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/kobuki/dashboard.launch.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - - - \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/roomba/dashboard.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/roomba/dashboard.launch.xml deleted file mode 100755 index bb07af1..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/roomba/dashboard.launch.xml +++ /dev/null @@ -1,5 +0,0 @@ - - - - - \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/turtlebot_dashboard.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/turtlebot_dashboard.launch deleted file mode 100755 index b98b7b0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/launch/turtlebot_dashboard.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/package.xml deleted file mode 100755 index 36ae458..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/package.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - turtlebot_dashboard - 2.3.1 - Launchers for the base-specific dashboards - Marcus Liebhardt - BSD - http://ros.org/wiki/turtlebot_dashboard - https://github.com/turtlebot/turtlebot_interactions - https://github.com/turtlebot/turtlebot_interactions/issues - Marcus Liebhardt - - catkin - - create_dashboard - kobuki_dashboard - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/.project deleted file mode 100755 index b427633..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/.project +++ /dev/null @@ -1,79 +0,0 @@ - - - turtlebot_interactions - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.autoBuildTarget - all - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.cleanBuildTarget - clean - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.fullBuildTarget - all - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/CHANGELOG.rst deleted file mode 100755 index 0f73525..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/CHANGELOG.rst +++ /dev/null @@ -1,36 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_interactions -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.1 (2015-03-23) ------------------- - -2.3.0 (2014-12-30) ------------------- - -2.2.2 (2013-10-25) ------------------- -* Unchanged release - -2.2.0 (2013-08-30) ------------------- -* Add bugtracker and repo info URLs. -* Changelogs at package level. - - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-07-23) ------------------- - -2.1.0 (2013-07-16) ------------------- -* Catkinized -* Remove turtlebot_diagnostics from metapackage - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_viz/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/CMakeLists.txt deleted file mode 100755 index dacf3d1..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_interactions) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/package.xml deleted file mode 100755 index afd5703..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactions/package.xml +++ /dev/null @@ -1,22 +0,0 @@ - - - turtlebot_interactions - 2.3.1 - Catkin meta-package for turtlebot_interactions - Marcus Liebhardt - BSD - http://ros.org/wiki/turtlebot_interactions - https://github.com/turtlebot/turtlebot_interactions - https://github.com/turtlebot/turtlebot_interactions/issues - Marcus Liebhardt - - catkin - - turtlebot_dashboard - turtlebot_interactive_markers - turtlebot_rviz_launchers - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.cproject deleted file mode 100755 index 47db4e3..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.project deleted file mode 100755 index 2d7a4f0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/.project +++ /dev/null @@ -1,79 +0,0 @@ - - - turtlebot_interactive_markers - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.autoBuildTarget - all - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.cleanBuildTarget - clean - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.fullBuildTarget - all - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/CHANGELOG.rst deleted file mode 100755 index 57c6923..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/CHANGELOG.rst +++ /dev/null @@ -1,39 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_interactive_markers -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.1 (2015-03-23) ------------------- - -2.3.0 (2014-12-30) ------------------- - -2.2.2 (2013-10-25) ------------------- -* Correct reference to renamed launcher. -* Add missing install rule for the server. - -2.2.1 (2013-09-11) ------------------- - -2.2.0 (2013-08-30) ------------------- -* Add bugtracker and repo info URLs. -* Changelogs at package level. - - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-07-23) ------------------- - -2.1.0 (2013-07-16) ------------------- -* Catkinized - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_viz/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/CMakeLists.txt deleted file mode 100755 index f10ba7c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(turtlebot_interactive_markers) - -find_package(catkin REQUIRED COMPONENTS roscpp - visualization_msgs - interactive_markers) - -catkin_package() - -include_directories(${catkin_INCLUDE_DIRS}) - -add_executable(turtlebot_marker_server src/turtlebot_marker_server.cpp) - -target_link_libraries(turtlebot_marker_server ${catkin_LIBRARIES}) - -install(TARGETS turtlebot_marker_server DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/launch/interactive_markers.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/launch/interactive_markers.launch deleted file mode 100755 index 4aa8b4f..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/launch/interactive_markers.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/package.xml deleted file mode 100755 index bf7ac42..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - turtlebot_interactive_markers - 2.3.1 - Interactive control for the TurtleBot using RViz and interactive markers - Daniel Stonier - BSD - http://ros.org/wiki/turtlebot_interactive_markers - https://github.com/turtlebot/turtlebot_interactions - https://github.com/turtlebot/turtlebot_interactions/issues - Helen Oleynikova - - catkin - - roscpp - visualization_msgs - interactive_markers - - roscpp - visualization_msgs - interactive_markers - turtlebot_bringup - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/src/turtlebot_marker_server.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/src/turtlebot_marker_server.cpp deleted file mode 100755 index 54d4512..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_interactive_markers/src/turtlebot_marker_server.cpp +++ /dev/null @@ -1,141 +0,0 @@ -/* - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include -#include -#include -#include - -using namespace visualization_msgs; - -class TurtlebotMarkerServer -{ - public: - TurtlebotMarkerServer() - : nh("~"), server("turtlebot_marker_server") - { - std::string cmd_vel_topic; - - nh.param("link_name", link_name, "/base_link"); - nh.param("linear_scale", linear_scale, 1.0); - nh.param("angular_scale", angular_scale, 2.2); - - vel_pub = nh.advertise("/cmd_vel", 1); - createInteractiveMarkers(); - - ROS_INFO("[turtlebot_marker_server] Initialized."); - } - - void processFeedback( - const InteractiveMarkerFeedbackConstPtr &feedback ); - - private: - void createInteractiveMarkers(); - - ros::NodeHandle nh; - ros::Publisher vel_pub; - interactive_markers::InteractiveMarkerServer server; - - double linear_scale; - double angular_scale; - - std::string link_name; -}; - -void TurtlebotMarkerServer::processFeedback( - const InteractiveMarkerFeedbackConstPtr &feedback ) -{ - // Handle angular change (yaw is the only direction in which you can rotate) - double yaw = tf::getYaw(feedback->pose.orientation); - - geometry_msgs::Twist vel; - vel.angular.z = angular_scale*yaw; - vel.linear.x = linear_scale*feedback->pose.position.x; - - vel_pub.publish(vel); - - // Make the marker snap back to turtlebot - server.setPose("turtlebot_marker", geometry_msgs::Pose()); - - server.applyChanges(); -} - -void TurtlebotMarkerServer::createInteractiveMarkers() -{ - // create an interactive marker for our server - InteractiveMarker int_marker; - int_marker.header.frame_id = link_name; - int_marker.name = "turtlebot_marker"; - //int_marker.description = "Move the turtlebot"; - - InteractiveMarkerControl control; - - control.orientation_mode = InteractiveMarkerControl::FIXED; - control.orientation.w = 1; - control.orientation.x = 1; - control.orientation.y = 0; - control.orientation.z = 0; - control.name = "move_x"; - control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS; - int_marker.controls.push_back(control); - - control.orientation.w = 1; - control.orientation.x = 0; - control.orientation.y = 1; - control.orientation.z = 0; - control.name = "rotate_z"; - - control.interaction_mode = InteractiveMarkerControl::MOVE_ROTATE; - //control.interaction_mode = InteractiveMarkerControl::ROTATE_AXIS; - int_marker.controls.push_back(control); - - // Commented out for non-holonomic turtlebot. If holonomic, can move in y. - /*control.orientation.w = 1; - control.orientation.x = 0; - control.orientation.y = 0; - control.orientation.z = 1; - control.name = "move_y"; - control.interaction_mode = InteractiveMarkerControl::MOVE_AXIS; - int_marker.controls.push_back(control);*/ - - server.insert(int_marker, boost::bind( &TurtlebotMarkerServer::processFeedback, this, _1 )); - - server.applyChanges(); -} - - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "turtlebot_marker_server"); - TurtlebotMarkerServer turtleserver; - - ros::spin(); -} diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.cproject deleted file mode 100755 index 63ae0b0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.gitignore deleted file mode 100755 index 378eac2..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.gitignore +++ /dev/null @@ -1 +0,0 @@ -build diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.project deleted file mode 100755 index 31174fc..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/.project +++ /dev/null @@ -1,79 +0,0 @@ - - - turtlebot_rviz_launchers - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.autoBuildTarget - all - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.cleanBuildTarget - clean - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.fullBuildTarget - all - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/CHANGELOG.rst deleted file mode 100755 index d6acb72..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/CHANGELOG.rst +++ /dev/null @@ -1,43 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_rviz_launchers -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.3.1 (2015-03-23) ------------------- -* image_color -> image_rect_color closes `#6 `_ -* Contributors: Jihoon Lee - -2.3.0 (2014-12-30) ------------------- - -2.2.2 (2013-10-25) ------------------- - -2.2.1 (2013-09-11) ------------------- -* Use two separate turtlebot navigation launchers to make things obvious to users. - -2.2.0 (2013-08-30) ------------------- -* Allow visualizing navigation regardless we use or not application namespaces (with argument use_app_ns). -* Fix view model launcher and dependencies. -* Add bugtracker and repo info URLs. -* Changelogs at package level. - - -2.1.x - hydro, unstable -======================= - -2.1.1 (2013-07-23) ------------------- -* Adapt view_navigation configuration to hydro navi stack - -2.1.0 (2013-07-16) ------------------- -* Catkinized - - -Previous versions, bugfixing -============================ - -Available in ROS wiki: http://ros.org/wiki/turtlebot_viz/ChangeList diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/CMakeLists.txt deleted file mode 100755 index a31c66d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/CMakeLists.txt +++ /dev/null @@ -1,11 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) - -project(turtlebot_rviz_launchers) - -find_package(catkin REQUIRED) - -catkin_package() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY rviz DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_blind_nav.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_blind_nav.launch deleted file mode 100755 index e2564e9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_blind_nav.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_model.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_model.launch deleted file mode 100755 index 5e97d69..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_model.launch +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_navigation.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_navigation.launch deleted file mode 100755 index 32e0ab9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_navigation.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_navigation_app.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_navigation_app.launch deleted file mode 100755 index 1e25c9d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_navigation_app.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_robot.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_robot.launch deleted file mode 100755 index c205625..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_robot.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_teleop_navigation.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_teleop_navigation.launch deleted file mode 100755 index 5a46dcb..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/launch/view_teleop_navigation.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/package.xml deleted file mode 100755 index f6e3e96..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/package.xml +++ /dev/null @@ -1,19 +0,0 @@ - - - turtlebot_rviz_launchers - 2.3.1 - Launchers for visualizing TurtleBot - Daniel Stonier - BSD - http://ros.org/wiki/turtlebot_rviz_launchers - https://github.com/turtlebot/turtlebot_interactions - https://github.com/turtlebot/turtlebot_interactions/issues - Daniel Stonier - - catkin - - joint_state_publisher - rviz - turtlebot_bringup - turtlebot_teleop - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/blind_nav.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/blind_nav.rviz deleted file mode 100755 index 8b2e4c2..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/blind_nav.rviz +++ /dev/null @@ -1,367 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - - /TF1/Tree1 - - /Global Map1/Map1 - - /Bumper/cliff PointCloud1/Status1 - Splitter Ratio: 0.5 - Tree Height: 769 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_rgb_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cliff_sensor_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gyro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - {} - Update Interval: 0 - Value: false - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Costmap - Topic: /move_base/local_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 12; 255 - Enabled: true - Name: Planner - Topic: /move_base/TrajectoryPlannerROS/local_plan - Value: true - Enabled: true - Name: Local Map - - Class: rviz/Group - Displays: - - Alpha: 0.4 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: Map - Topic: /move_base/global_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Name: Planner - Topic: /move_base/TrajectoryPlannerROS/global_plan - Value: true - Enabled: true - Name: Global Map - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: "" - Decay Time: 0 - Enabled: true - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Bumper/cliff PointCloud - Position Transformer: "" - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05 - Style: Spheres - Topic: /mobile_base/sensors/bumper_pointcloud - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 25; 255; 0 - Enabled: true - Name: Polygon - Topic: /move_base/local_costmap/footprint_layer/footprint_stamped - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/Measure - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 10.0367 - Focal Point: - X: 0.644818 - Y: 3.7827 - Z: -0.57592 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 1.4398 - Target Frame: - Value: Orbit (rviz) - Yaw: 2.99003 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 985 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000003600000038bfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000320000038b000000d701000005000000010000010b0000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000320000038b000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024c01000005fb0000000800540069006d006501000000000000045000000000000000000000030f0000038b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 0 - Y: 40 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation.rviz deleted file mode 100755 index d7b80ae..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation.rviz +++ /dev/null @@ -1,479 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - - /TF1/Tree1 - - /Global Map1/Planner1 - - /Local Map1 - - /Local Map1/Planner1 - - /Local Map1/Trajectory Cloud1 - Splitter Ratio: 0.5 - Tree Height: 766 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_rgb_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cliff_sensor_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gyro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Bumper Hit - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.08 - Style: Spheres - Topic: /mobile_base/sensors/bumper_pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /map - Value: true - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: Costmap - Topic: /move_base/global_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Name: Planner - Topic: /move_base/DWAPlannerROS/global_plan - Value: true - Enabled: true - Name: Global Map - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Costmap - Topic: /move_base/local_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 12; 255 - Enabled: true - Name: Planner - Topic: /move_base/DWAPlannerROS/local_plan - Value: true - - Alpha: 0.8 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: total_cost - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 785.05 - Min Color: 0; 0; 0 - Min Intensity: 29.39 - Name: Cost Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /move_base/DWAPlannerROS/cost_cloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: total_cost - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 9.621 - Min Color: 0; 0; 0 - Min Intensity: 3.621 - Name: Trajectory Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /move_base/DWAPlannerROS/trajectory_cloud - Use Fixed Frame: true - Use rainbow: false - Value: true - Enabled: true - Name: Local Map - - Arrow Length: 0.2 - Class: rviz/PoseArray - Color: 0; 192; 0 - Enabled: true - Name: Amcl Particle Swarm - Topic: /particlecloud - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Name: Full Plan - Topic: /move_base/NavfnROS/plan - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/Measure - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: -6.72003 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Name: Current View - Near Clip Distance: 0.01 - Scale: 96.6482 - Target Frame: - Value: TopDownOrtho (rviz) - X: -1.35336 - Y: 2.04398 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 985 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000015e00000389fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003300000389000000d801000005000000010000010b00000389fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003300000389000000ab01000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000020101000005fb0000000800540069006d006501000000000000045000000000000000000000050f0000038900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1918 - X: 0 - Y: 32 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation_app.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation_app.rviz deleted file mode 100755 index 4758b91..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/navigation_app.rviz +++ /dev/null @@ -1,405 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - - /TF1/Tree1 - - /Global Map1/Costmap1 - - /Global Map1/Planner1 - - /Local Map1/Costmap1 - - /Local Map1/Planner1 - Splitter Ratio: 0.5 - Tree Height: 762 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_rgb_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cliff_sensor_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gyro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Bumper Hit - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.08 - Style: Spheres - Topic: /mobile_base/sensors/bumper_pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /app_manager/application/map - Value: true - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: Costmap - Topic: /app_manager/application/move_base/global_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: false - Name: Planner - Topic: /app_manager/application/move_base/TrajectoryPlannerROS/global_plan - Value: false - Enabled: true - Name: Global Map - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Costmap - Topic: /app_manager/application/move_base/local_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 12; 255 - Enabled: true - Name: Planner - Topic: /app_manager/application/move_base/TrajectoryPlannerROS/local_plan - Value: true - Enabled: true - Name: Local Map - - Arrow Length: 0.2 - Class: rviz/PoseArray - Color: 0; 192; 0 - Enabled: true - Name: Amcl Particles - Topic: /particlecloud - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/Measure - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 19.5252 - Focal Point: - X: 0.359644 - Y: 0.951594 - Z: -0.307131 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 1.5698 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.34502 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 978 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000026b00000384fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003200000384000000d701000005000000010000010b00000384fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003200000384000000a901000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024c01000005fb0000000800540069006d00650100000000000004500000000000000000000003140000038400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1680 - X: 0 - Y: 40 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/readme.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/readme.txt deleted file mode 100755 index 6407d90..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/readme.txt +++ /dev/null @@ -1,5 +0,0 @@ - -===== Filename Extensions ===== - - * .vcg : fuerte - * .rviz : groovy diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/robot.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/robot.rviz deleted file mode 100755 index 5af5bc5..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_rviz_launchers/rviz/robot.rviz +++ /dev/null @@ -1,425 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Tree1 - Splitter Ratio: 0.5 - Tree Height: 767 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: /odom - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.2972 - Min Value: 0.2972 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Auto Size: - Auto Size Factor: 1 - Value: true - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 3.286 - Min Value: 0.683 - Value: true - Axis: X - Channel Name: intensity - Class: rviz/DepthCloud - Color: 255; 255; 255 - Color Image Topic: "" - Color Transformer: AxisColor - Color Transport Hint: raw - Decay Time: 0 - Depth Map Topic: /camera/depth/image_raw - Depth Map Transport Hint: raw - Enabled: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: DepthCloud - Occlusion Compensation: - Occlusion Time-Out: 30 - Value: false - Position Transformer: XYZ - Queue Size: 5 - Selectable: true - Size (Pixels): 3 - Style: Points - Topic Filter: true - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Auto Size: - Auto Size Factor: 1 - Value: true - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/DepthCloud - Color: 255; 255; 255 - Color Image Topic: /camera/rgb/image_rect_color - Color Transformer: RGB8 - Color Transport Hint: raw - Decay Time: 0 - Depth Map Topic: /camera/depth_registered/image_raw - Depth Map Transport Hint: raw - Enabled: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Registered DepthCloud - Occlusion Compensation: - Occlusion Time-Out: 30 - Value: false - Position Transformer: XYZ - Queue Size: 5 - Selectable: true - Size (Pixels): 3 - Style: Points - Topic Filter: true - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz/Image - Enabled: false - Image Topic: /camera/rgb/image_rect_color - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 3.286 - Min Value: 0.681 - Value: true - Axis: X - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Points - Topic: /camera/depth/points - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 5.632 - Min Value: 0.65 - Value: true - Axis: X - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Registered PointCloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Points - Topic: /camera/depth_registered/points - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz/InteractiveMarkers - Enabled: false - Name: InteractiveMarkers - Show Axes: false - Show Descriptions: true - Show Visual Aids: false - Update Topic: /turtlebot_marker_server/update - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: /base_footprint - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 0.849143 - Focal Point: - X: -0.0344972 - Y: 0.065886 - Z: 0.148092 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.520399 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.74858 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1024 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000001950000038afc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000330000038a000000d801000005fb0000000a0049006d006100670065000000028d000000c60000001d01000005000000010000010b00000294fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003300000294000000ab01000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000029b01000005fb0000000800540069006d00650100000000000004500000000000000000000005e80000038a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1932 - X: 1914 - Y: -484 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/CHANGELOG.rst deleted file mode 100755 index 7f3c0f9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/CHANGELOG.rst +++ /dev/null @@ -1,21 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.2.1 (2015-04-06) ------------------- -* remove laptop charge status message `#2 `_ -* LaptopChargeStatus moved here from turtlebot stack. -* Contributors: Daniel Stonier, Jihoon Lee - -2.2.0 (2013-08-30) ------------------- -* Changelog added - - -2.1.x - hydro, unstable -======================= - -2.1.0 (2013-08-16) ------------------- -* First release. diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/CMakeLists.txt deleted file mode 100755 index 7f55e10..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/CMakeLists.txt +++ /dev/null @@ -1,17 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_msgs) - -find_package(catkin REQUIRED COMPONENTS std_msgs sensor_msgs std_srvs message_generation) - -add_message_files(DIRECTORY msg - FILES PanoramaImg.msg - ) - -add_service_files(DIRECTORY srv - FILES TakePanorama.srv - SetFollowState.srv - ) - -generate_messages(DEPENDENCIES std_msgs sensor_msgs) - -catkin_package(CATKIN_DEPENDS std_msgs sensor_msgs std_srvs message_runtime) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/README.md deleted file mode 100755 index 42b4c84..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/README.md +++ /dev/null @@ -1,4 +0,0 @@ -turtlebot_msgs -============== - -Turtlebot messages, services and actions diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/msg/PanoramaImg.msg b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/msg/PanoramaImg.msg deleted file mode 100755 index a09ce1e..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/msg/PanoramaImg.msg +++ /dev/null @@ -1,8 +0,0 @@ -#Pano message -Header header -string pano_id -float64 latitude -float64 longitude -float64 heading #in degrees, compass heading -string geo_tag -sensor_msgs/Image image \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/package.xml deleted file mode 100755 index c9627a0..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/package.xml +++ /dev/null @@ -1,25 +0,0 @@ - - - turtlebot_msgs - 2.2.1 - Turtlebot messages, services and actions - - Jorge Santos - Jorge Santos - BSD - http://ros.org/wiki/turtlebot_msgs - https://github.com/turtlebot/turtlebot_msgs - https://github.com/turtlebot/turtlebot_msgs/issues - - catkin - - std_msgs - std_srvs - sensor_msgs - message_generation - - std_msgs - std_srvs - sensor_msgs - message_runtime - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/srv/SetFollowState.srv b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/srv/SetFollowState.srv deleted file mode 100755 index c0f46ab..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/srv/SetFollowState.srv +++ /dev/null @@ -1,12 +0,0 @@ -uint8 STOPPED = 0 -uint8 FOLLOW = 1 - -# Following running/stopped -uint8 state - ---- - -uint8 OK = 0 -uint8 ERROR = 1 - -uint8 result diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/srv/TakePanorama.srv b/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/srv/TakePanorama.srv deleted file mode 100755 index f65cd0b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_msgs/srv/TakePanorama.srv +++ /dev/null @@ -1,21 +0,0 @@ -# mode for taking the pictures -uint8 mode -# rotate, stop, snapshot, rotate, stop, snapshot, ... -uint8 SNAPANDROTATE=0 -# keep rotating while taking snapshots -uint8 CONTINUOUS=1 -# stop an ongoing panorama creation -uint8 STOP=2 -# total angle of panorama picture -float32 pano_angle -# angle interval when creating the panorama picture in snap&rotate mode, time interval otherwise -float32 snap_interval -# rotating velocity -float32 rot_vel - ---- - -uint8 status -uint8 STARTED=0 -uint8 IN_PROGRESS=1 -uint8 STOPPED=2 \ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/README.md deleted file mode 100755 index d4e2670..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/README.md +++ /dev/null @@ -1,4 +0,0 @@ -turtlebot_simulator -=================== - -Launchers for Gazebo simulation of the TurtleBot diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/.project deleted file mode 100755 index 3d66d35..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/.project +++ /dev/null @@ -1,79 +0,0 @@ - - - turtlebot_gazebo - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.autoBuildTarget - all - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.cleanBuildTarget - clean - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.fullBuildTarget - all - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/CHANGELOG.rst deleted file mode 100755 index 7fd16b3..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/CHANGELOG.rst +++ /dev/null @@ -1,37 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_simulator -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.2.2 (2015-09-16) ------------------- - -2.2.1 (2015-08-07) ------------------- -* Enable to run Gazebo w/o GUI. -* Contributors: Isaac IY Saito - -2.2.0 (2014-12-30) ------------------- -* use env hook to configure gazebo world and map fixes `#40 `_ -* now it uses args to load world. and corridor world is added. `#39 `_ -* disable create gazebo plugin -* Add turtlebot_navigation to turtlebot_gazebo depends - gmapping_demo.launch depends on it. -* Contributors: Jihoon Lee, Jochen Sprickerhof - -2.1.1 (2013-10-14) ------------------- -* Rename cmd_vel_mux as yocs_cmd_vel_mux. - -2.1.0 (2013-08-30) ------------------- -* Add navigation demos on Gazebo on a playground world. -* Add bugtracker and repo info URLs. -* Add cmd_vel_mux for create and roomba. -* Do not use robot_pose_ekf for kobuki base. - -2.0.0 (2013-07-16) ------------------- - -* Migrated to use stand-alone Gazebo installation -* All packages have been catkinized diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/CMakeLists.txt deleted file mode 100755 index 591db7d..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/CMakeLists.txt +++ /dev/null @@ -1,15 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_gazebo) -find_package(catkin REQUIRED) -catkin_package() - -catkin_add_env_hooks(25.turtlebot-gazebo SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY maps - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY worlds - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em deleted file mode 100755 index 1c45b09..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em +++ /dev/null @@ -1,13 +0,0 @@ -# Set some sane defaults for the turtlebot stage launch environment -##Documentation: -# The colon command simply has its arguments evaluated and then succeeds. -# It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. -# The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). -# Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. -# But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler -: ${TURTLEBOT_GAZEBO_MAP_FILE:=`rospack find turtlebot_gazebo`/maps/playground.yaml} -: ${TURTLEBOT_GAZEBO_WORLD_FILE:=`rospack find turtlebot_gazebo`/worlds/playground.world} - -# Exports -export TURTLEBOT_GAZEBO_MAP_FILE -export TURTLEBOT_GAZEBO_WORLD_FILE diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch deleted file mode 100755 index f4b174e..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch deleted file mode 100755 index c148fc6..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml deleted file mode 100755 index d677268..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml deleted file mode 100755 index 03b2b6c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/roomba.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/roomba.launch.xml deleted file mode 100755 index d677268..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/roomba.launch.xml +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/turtlebot_world.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/turtlebot_world.launch deleted file mode 100755 index 38f8749..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/turtlebot_world.launch +++ /dev/null @@ -1,37 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/maps/playground.pgm b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/maps/playground.pgm deleted file mode 100755 index a729229..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/maps/playground.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: GIMP PNM Filter Version 1.1 -231 194 -255 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\ No newline at end of file diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/maps/playground.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/maps/playground.yaml deleted file mode 100755 index a103ff3..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/maps/playground.yaml +++ /dev/null @@ -1,6 +0,0 @@ -free_thresh: 0.196 -image: playground.pgm -negate: 0 -occupied_thresh: 0.65 -origin: [-6.8999999999999915, -5.8999999999999915, 0.0] -resolution: 0.05 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/package.xml deleted file mode 100755 index 356b883..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - turtlebot_gazebo - 2.2.2 - Gazebo launchers and worlds for TurtleBot simulation - Marcus Liebhardt - BSD - http://ros.org/wiki/turtlebot_gazebo - https://github.com/turtlebot/turtlebot_simulator - https://github.com/turtlebot/turtlebot_simulator/issues - Willow Garage - - catkin - - yocs_cmd_vel_mux - - diagnostic_aggregator - depthimage_to_laserscan - gazebo_ros - kobuki_gazebo_plugins - robot_pose_ekf - robot_state_publisher - turtlebot_bringup - turtlebot_description - turtlebot_navigation - xacro - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/corridor.world b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/corridor.world deleted file mode 100755 index 49912ea..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/corridor.world +++ /dev/null @@ -1,543 +0,0 @@ - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - 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-1.57102 - - 1.76758 0.74778 1.40212 0 0 -1.57102 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0.431481 -2.92293 0 0 -0 0 - - 0.431481 -2.92293 1.4 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - -2 2 0 0 -0 0 - - -2 2 1.4 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 3 4.52028 0 0 -0 0 - - 3 4.52028 1.4 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 0 0 0 0 -0 0 - - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - - - 0.59881 -4.06701 27.182 -2.2526e-16 1.3218 2.2322 - orbit - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/empty.world b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/empty.world deleted file mode 100755 index 38ec2e2..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/empty.world +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - model://sun - - - - model://ground_plane - - - - 0.01 - 1 - 100 - 0 0 -9.8 - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/playground.world b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/playground.world deleted file mode 100755 index 0411eae..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/worlds/playground.world +++ /dev/null @@ -1,645 +0,0 @@ - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - 0.5 0.1 -0.9 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - 0.01 - 1 - 100 - 0 0 -9.8 - - - 1 - - - 1 - - - 0 0.005 0.6 0 -0 0 - - - 0.9 0.01 1.2 - - - 10 - - - - - - - - - - - - 0 0.005 0.6 0 -0 0 - - - 0.9 0.01 1.2 - - - - - - - - 0.45 -0.195 0.6 0 -0 0 - - - 0.02 0.4 1.2 - - - 10 - - - - - - - - - - - - 0.45 -0.195 0.6 0 -0 0 - - - 0.02 0.4 1.2 - - - - - - - - -0.45 -0.195 0.6 0 -0 0 - - - 0.02 0.4 1.2 - - - 10 - - - - - - - - - - - - -0.45 -0.195 0.6 0 -0 0 - - - 0.02 0.4 1.2 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0.5 0.064516 - - - 10 - - - - - - - - - - - - 0 0.224 0.2401 -0.9 0 0 - - - 4.06542 0.5 0.064516 - - - 10 - - - - - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - -4 -1 0 0 -0 -0.7 - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - 0.497681 0 0 0 -0 0 - - - 0 0 - 0 44986 - 1377677575 940727583 - - 1 -3.44458 0 0 -0 0 - - 1 -3.44458 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - 1.41131 -1 0 0 -0 0.9 - - 1.41131 -1 0.5 0 -0 0.9 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - -2 -3.4888 0.5 0 -0 0 - - -2 -3.4888 0.5 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - 0 0 0 0 -0 0 - - - - - - 1.33336 -0.422442 27.6101 3e-06 1.5698 3.04015 - orbit - - - - -2 -3.4888 0.5 0 -0 0 - - - 1 - - 1 - 0 - 0 - 1 - 0 - 1 - - - - - - 0.5 - 1 - - - 10 - - - - - - - - - - - - - - 0.5 - 1 - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - 0 - - - - - - - model://dumpster/meshes/dumpster.dae - - - 10 - - - - - - - - - - - - - - model://dumpster/meshes/dumpster.dae - - - - - - - - 0 - 0 - - 0 - - - 1 - 0 - 0 - 1 - 0 - 1 - - 1 - - 0 - 1 - - 1 -3.44458 0 0 -0 -0.3 - 0 - - - - 0 0 0.5 0 -0 0 - - - - model://cube_20k/meshes/cube_20k.stl - 0.5 0.5 0.5 - - - 10 - - - - - - - - - - - - - - model://cube_20k/meshes/cube_20k.stl - 0.5 0.5 0.5 - - - - - 0 - 0 - - 0 - - - 1 - 0 - 0 - 1 - 0 - 1 - - 1 - - 0 - 1 - - 1.41131 -1 0 0 -0 0.9 - 0 - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator.rosinstall b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator.rosinstall deleted file mode 100755 index c038965..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator.rosinstall +++ /dev/null @@ -1,9 +0,0 @@ -- git: {local-name: kobuki, uri: 'https://github.com/yujinrobot/kobuki.git', version: indigo} -- git: {local-name: kobuki_desktop, uri: 'https://github.com/yujinrobot/kobuki_desktop.git', version: indigo} -- git: {local-name: stdr_simulator, uri: 'https://github.com/stdr-simulator-ros-pkg/stdr_simulator', version: hydro-devel} -- git: {local-name: turtlebot, uri: 'https://github.com/turtlebot/turtlebot.git', version: indigo} -- git: {local-name: turtlebot_create, uri: 'http://github.com/turtlebot/turtlebot_create.git', version: indigo} -- git: {local-name: turtlebot_apps, uri: 'http://github.com/turtlebot/turtlebot_apps.git', version: indigo} -- git: {local-name: turtlebot_msgs, uri: 'http://github.com/turtlebot/turtlebot_msgs.git', version: indigo} -- git: {local-name: turtlebot_simulator, uri: 'http://github.com/turtlebot/turtlebot_simulator.git', version: indigo} -- git: {local-name: turtlebot_create_desktop, uri: 'https://github.com/turtlebot/turtlebot_create_desktop.git', version: indigo} diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/.cproject deleted file mode 100755 index c279475..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/.cproject +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/.project deleted file mode 100755 index 0b1d675..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/.project +++ /dev/null @@ -1,79 +0,0 @@ - - - turtlebot_simulator - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - ?name? - - - - org.eclipse.cdt.make.core.append_environment - true - - - org.eclipse.cdt.make.core.autoBuildTarget - all - - - org.eclipse.cdt.make.core.buildArguments - - - - org.eclipse.cdt.make.core.buildCommand - make - - - org.eclipse.cdt.make.core.cleanBuildTarget - clean - - - org.eclipse.cdt.make.core.contents - org.eclipse.cdt.make.core.activeConfigSettings - - - org.eclipse.cdt.make.core.enableAutoBuild - false - - - org.eclipse.cdt.make.core.enableCleanBuild - true - - - org.eclipse.cdt.make.core.enableFullBuild - true - - - org.eclipse.cdt.make.core.fullBuildTarget - all - - - org.eclipse.cdt.make.core.stopOnError - true - - - org.eclipse.cdt.make.core.useDefaultBuildCmd - true - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/CHANGELOG.rst deleted file mode 100755 index da0dd01..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/CHANGELOG.rst +++ /dev/null @@ -1,28 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_simulator -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.2.2 (2015-09-16) ------------------- - -2.2.1 (2015-08-07) ------------------- - -2.2.0 (2014-12-30) ------------------- -* add turtlebot_stdr in meta package fixes `#44 `_ -* add turtlebot_stage -* Contributors: Jihoon Lee - -2.1.1 (2013-10-14) ------------------- - -2.1.0 (2013-08-30) ------------------- -* Add bugtracker and repo info URLs. - -2.0.0 (2013-07-16) ------------------- - -* Migrated to use stand-alone Gazebo installation -* All packages have been catkinized diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/CMakeLists.txt deleted file mode 100755 index 9ec2bf4..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_simulator) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/package.xml deleted file mode 100755 index 662aa38..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_simulator/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - turtlebot_simulator - 2.2.2 - Catkin metapackage for the turtlebot_simulator stack - OSRF - BSD - http://ros.org/wiki/turtlebot_simulator - https://github.com/turtlebot/turtlebot_simulator - https://github.com/turtlebot/turtlebot_simulator/issues - Willow - - catkin - turtlebot_gazebo - turtlebot_stage - turtlebot_stdr - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/.cproject deleted file mode 100755 index d0b220f..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/.cproject +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/.project deleted file mode 100755 index 9b683fc..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/.project +++ /dev/null @@ -1,27 +0,0 @@ - - - turtlebot_stage - - - - - - org.eclipse.cdt.managedbuilder.core.genmakebuilder - clean,full,incremental, - - - - - org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder - full,incremental, - - - - - - org.eclipse.cdt.core.cnature - org.eclipse.cdt.core.ccnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature - org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/CHANGELOG.rst deleted file mode 100755 index ff47c1a..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/CHANGELOG.rst +++ /dev/null @@ -1,66 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_stage -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.2.2 (2015-09-16) ------------------- -* view frame is now base_link closes `#51 `_ -* Contributors: Jihoon Lee - -2.2.1 (2015-08-07) ------------------- -* turtlebot_stage: add turtlebot_navigation dependency -* Contributors: Gaël Ecorchard - -2.2.0 (2014-12-30) ------------------- -* Adds border extension to map to fix map scaling / position in stage -* Added changes in the stage launch file undone before because of the merge -* Merged -* Moved env fold inside stage -* Revert "Stage launch use env variables" -* Small fix for wrong file name of env script -* Added support for map and world file through env variables -* remove annotation and param install rule -* updated rviz configuration for dwa. -* add the trajectory cloud to stage's rviz view. -* stage only permits 'square' robots, so make sure our square fits within - the turtlebot defined circle otherwise it collides when it normally - wouldn't. -* redirect all params and launchers at the real turtlebot configuration files and cleanup, `#21 `_. -* remove unused plugins and add the cost cloud. -* add turtlebot_stage -* Contributors: Alexander Reimann, Daniel Stonier, Jihoon Lee - -* Adds border extension to map to fix map scaling / position in stage -* Added changes in the stage launch file undone before because of the merge -* Merged -* Moved env fold inside stage -* Revert "Stage launch use env variables" -* Small fix for wrong file name of env script -* Added support for map and world file through env variables -* remove annotation and param install rule -* updated rviz configuration for dwa. -* add the trajectory cloud to stage's rviz view. -* stage only permits 'square' robots, so make sure our square fits within - the turtlebot defined circle otherwise it collides when it normally - wouldn't. -* redirect all params and launchers at the real turtlebot configuration files and cleanup, `#21 `_. -* remove unused plugins and add the cost cloud. -* add turtlebot_stage -* Contributors: Alexander Reimann, Daniel Stonier, Jihoon Lee - -2.1.1 (2013-10-14) ------------------- - -2.1.0 (2013-09-02) ------------------- - -2.0.0 (2013-08-12) ------------------- - -1.9.1 (2013-01-02) ------------------- - -1.9.0 (2012-12-22) ------------------- diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/CMakeLists.txt deleted file mode 100755 index 5433752..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/CMakeLists.txt +++ /dev/null @@ -1,20 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_stage) - -find_package(catkin REQUIRED) - -catkin_package() - -catkin_add_env_hooks(25.turtlebot-stage SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY maps - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY rviz - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/env-hooks/25.turtlebot-stage.sh.em b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/env-hooks/25.turtlebot-stage.sh.em deleted file mode 100755 index 381ca53..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/env-hooks/25.turtlebot-stage.sh.em +++ /dev/null @@ -1,13 +0,0 @@ -# Set some sane defaults for the turtlebot stage launch environment -##Documentation: -# The colon command simply has its arguments evaluated and then succeeds. -# It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. -# The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). -# Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. -# But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler -: ${TURTLEBOT_STAGE_MAP_FILE:=`rospack find turtlebot_stage`/maps/maze.yaml} -: ${TURTLEBOT_STAGE_WORLD_FILE:=`rospack find turtlebot_stage`/maps/stage/maze.world} -# Exports -export TURTLEBOT_STAGE_MAP_FILE -export TURTLEBOT_STAGE_WORLD_FILE - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/launch/turtlebot_in_stage.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/launch/turtlebot_in_stage.launch deleted file mode 100755 index 13c5922..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/launch/turtlebot_in_stage.launch +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/maze.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/maze.png deleted file mode 100755 index c5767e4..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/maze.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/maze.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/maze.yaml deleted file mode 100755 index 79220e7..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/maze.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: maze.png -resolution: 0.05 -origin: [0.0, 0.0, 0.0] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/robopark2.bmp b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/robopark2.bmp deleted file mode 100755 index f35db92..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/robopark2.bmp and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/robopark_plan.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/robopark_plan.yaml deleted file mode 100755 index dbaa725..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/robopark_plan.yaml +++ /dev/null @@ -1,17 +0,0 @@ -image: robopark2.bmp -resolution: 0.014 -origin: [-0.6, -2.24, 0.0] #The 2-D pose of the lower-left pixel in the map, as (x, y, yaw) -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - - - -# 2150x700 pix - -# 491 pix -> 13.900 m - -# res = 0.0283 pix/m - -# 1012 >>> 28.6396 -# 340 >>> 9.622 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/maze.world b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/maze.world deleted file mode 100755 index 609b259..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/maze.world +++ /dev/null @@ -1,44 +0,0 @@ -include "turtlebot.inc" - -define floorplan model -( - # sombre, sensible, artistic - color "gray30" - - # most maps will need a bounding box - boundary 1 - - gui_nose 0 - gui_grid 0 - gui_outline 0 - gripper_return 0 - fiducial_return 0 - laser_return 1 -) - -resolution 0.02 -interval_sim 100 # simulation timestep in milliseconds - -window -( - size [ 600.0 700.0 ] - center [ 0.0 0.0 ] - rotate [ 0.0 0.0 ] - scale 60 -) - -floorplan -( - name "maze" - bitmap "../maze.png" - size [ 10.0 10.0 2.0 ] - pose [ 5.0 5.0 0.0 0.0 ] -) - -# throw in a robot -turtlebot -( - pose [ 2.0 2.0 0.0 0.0 ] - name "turtlebot" - color "black" -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/robopark_plan.world b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/robopark_plan.world deleted file mode 100755 index 6117b04..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/robopark_plan.world +++ /dev/null @@ -1,62 +0,0 @@ -include "turtlebot.inc" - -# Definition for an obstacle placed on the map. -define block model -( - size [0.500 0.500 1.500] - gui_nose 0 -) - - -# throw in a robot -turtlebot -( - pose [ 2.000 2.000 0.000 0.000 ] - name "turtlebot1" - color "gray" - gui_nose 1 -) - -# throw in an obstacle -block( pose [ 4.000 4.000 0.000 0.000 ] color "red") - - -define floorplan model -( - # sombre, sensible, artistic - color "gray30" - - # most maps will need a bounding box - boundary 1 - - gui_nose 0 - gui_grid 0 - - gui_outline 0 - gripper_return 0 - fiducial_return 0 - laser_return 1 -) - -# set the resolution of the underlying raytrace model in meters -resolution 0.01 - -interval_sim 100 # simulation timestep in milliseconds - -window -( - size [ 600 424 ] - rotate [ 0.000 0.000 ] -) - -# load an environment bitmap -floorplan -( - name "Robo Park floor" - bitmap "../robopark2.bmp" - size [16.800 11.870 1.000] - - pose [ 0.000 0.000 0.000 0.000 ] - #for test - origin [ 7.800 3.700 0.000 0.000] # specify the position of the object's center, relative to its pose -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/turtlebot.inc b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/turtlebot.inc deleted file mode 100755 index 66cb2fc..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/maps/stage/turtlebot.inc +++ /dev/null @@ -1,27 +0,0 @@ -define kinect ranger -( - sensor - ( - range_max 6.5 - fov 58.0 - samples 640 - ) - # generic model properties - color "black" - size [ 0.06 0.15 0.03 ] -) - -define turtlebot position -( - pose [ 0.0 0.0 0.0 0.0 ] - - odom_error [0.03 0.03 999999 999999 999999 0.02] - - size [ 0.2552 0.2552 0.40 ] - origin [ 0.0 0.0 0.0 0.0 ] - gui_nose 1 - drive "diff" - color "gray" - - kinect(pose [ -0.1 0.0 -0.11 0.0 ]) -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/package.xml deleted file mode 100755 index 0d1d3fd..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - turtlebot_stage - 2.2.2 - - Stage version of turtlebot simulation. Convenient to test 2D-navigation related stuffs - - - Jihoon Lee - Jorge Santos - BSD - - http://wiki.ros.org/turtlebot_stage - https://github.com/turtlebot/turtlebot_simulator - https://github.com/turtlebot/turtlebot_simulator/issues - - catkin - stage_ros - navigation - turtlebot_bringup - turtlebot_navigation - yocs_virtual_sensor - yocs_velocity_smoother - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/rviz/robot_navigation.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/rviz/robot_navigation.rviz deleted file mode 100755 index 1481cec..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stage/rviz/robot_navigation.rviz +++ /dev/null @@ -1,590 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - - /TF1/Tree1 - - /Local Planning1 - - /Global Planning1 - - /Global Planning1/Planner1 - Splitter Ratio: 0.5 - Tree Height: 815 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan (kinect) -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_rgb_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cliff_sensor_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gyro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - mount_asus_xtion_pro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 1 - Min Color: 0; 0; 0 - Min Intensity: 1 - Name: LaserScan (kinect) - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Squares - Topic: /scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 285 - Min Color: 0; 0; 0 - Min Intensity: 2 - Name: LaserScan (ir sensors) - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05 - Style: Flat Squares - Topic: /ir_scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: LaserScan (virtual sensor) - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.02 - Style: Flat Squares - Topic: /virtual_sensor_scan - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud (bumpers) - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /mobile_base/sensors/bumper_pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /map - Value: true - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: false - Name: Costmap - Topic: /move_base/local_costmap/costmap - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 12; 255 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Planner - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/DWAPlannerROS/local_plan - Value: true - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: total_cost - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 726.3 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Cost Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /move_base/DWAPlannerROS/cost_cloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: total_cost - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 128.275 - Min Color: 0; 0; 0 - Min Intensity: 43.2 - Name: Trajectory Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /move_base/DWAPlannerROS/trajectory_cloud - Use Fixed Frame: true - Use rainbow: false - Value: false - Enabled: true - Name: Local Planning - - Class: rviz/Group - Displays: - - Alpha: 0.4 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: Costmap - Topic: /move_base/global_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Planner - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/DWAPlannerROS/global_plan - Value: true - Enabled: true - Name: Global Planning - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.1 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.2 - Head Radius: 0.1 - Name: Pose (move_base) - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Arrow - Topic: /move_base/current_goal - Value: true - - Arrow Length: 0.2 - Class: rviz/PoseArray - Color: 0; 192; 0 - Enabled: true - Name: ParticleCloud - Topic: /particlecloud - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Line Style: Lines - Line Width: 0.03 - Name: Path (global) - Offset: - X: 0 - Y: 0 - Z: 0 - Topic: /move_base/NavfnROS/plan - Value: true - - Angle Tolerance: 0.1 - Class: rviz/Odometry - Color: 48; 48; 48 - Enabled: false - Keep: 10 - Length: 0.4 - Name: Odometry - Position Tolerance: 0.1 - Topic: /odom - Value: false - - Class: rviz/MarkerArray - Enabled: false - Marker Topic: /move_base/EBandPlannerROS/eband_visualization_array - Name: EBand boubles - Namespaces: - {} - Queue Size: 100 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/Measure - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 19.1137 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 5.01262 - Y: 4.28547 - Z: -0.424504 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 1.5298 - Target Frame: base_link - Value: Orbit (rviz) - Yaw: 6.14821 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1028 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001e1000003befc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000003be000000dd00ffffff000000010000010b0000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000320000038b000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000566000003be00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1869 - X: 41 - Y: 14 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/CHANGELOG.rst deleted file mode 100755 index a303baa..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/CHANGELOG.rst +++ /dev/null @@ -1,64 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package turtlebot_stdr -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -2.2.2 (2015-09-16) ------------------- - -2.2.1 (2015-08-07) ------------------- - -2.2.0 (2014-12-30) ------------------- -* add installrule for tf_connector and robot directory -* Use default map topic name map after changing stdr's internal map server's topic -* Use only one map topic and remove unused sensors from rviz -* add stdr_resources as run_depend closes `#38 `_ -* correct run_depend for stdr fixes `#37 `_ -* renamed new_map to rviz_map, a map with the right global frame id -* Update turtlebot.yaml -* Update tf_connector.py -* fixed map and costmap misalignement due to wrong frame_id -* fix laser scan min max height for simulation -* added architecture image -* deleted cache file -* added env-hooks folder -* add env-hooks and changed the fixed frame in rviz from map to world -* Cleaned up CMakeLists.txt -* removed param and amcl/movebase modified launch files -* turtlebot_stdr v0.1 -* Contributors: Jihoon Lee, Mehdi Tlili - -* add installrule for tf_connector and robot directory -* Use default map topic name map after changing stdr's internal map server's topic -* Use only one map topic and remove unused sensors from rviz -* add stdr_resources as run_depend closes `#38 `_ -* correct run_depend for stdr fixes `#37 `_ -* renamed new_map to rviz_map, a map with the right global frame id -* Update turtlebot.yaml -* Update tf_connector.py -* fixed map and costmap misalignement due to wrong frame_id -* fix laser scan min max height for simulation -* added architecture image -* deleted cache file -* added env-hooks folder -* add env-hooks and changed the fixed frame in rviz from map to world -* Cleaned up CMakeLists.txt -* removed param and amcl/movebase modified launch files -* turtlebot_stdr v0.1 -* Contributors: Jihoon Lee, Mehdi Tlili - -2.1.1 (2013-10-14) ------------------- - -2.1.0 (2013-09-02) ------------------- - -2.0.0 (2013-08-12) ------------------- - -1.9.1 (2013-01-02) ------------------- - -1.9.0 (2012-12-22) ------------------- diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/CMakeLists.txt deleted file mode 100755 index 3910133..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(turtlebot_stdr) - -find_package(catkin REQUIRED) - -catkin_package() - -catkin_add_env_hooks(25.turtlebot-stdr SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY maps - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY rviz - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install(DIRECTORY robot - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -install( - PROGRAMS - nodes/tf_connector.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/documentation/architecture_overview.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/documentation/architecture_overview.png deleted file mode 100755 index b4e4c83..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/documentation/architecture_overview.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/env-hooks/25.turtlebot-stdr.sh.em b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/env-hooks/25.turtlebot-stdr.sh.em deleted file mode 100755 index d178bdd..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/env-hooks/25.turtlebot-stdr.sh.em +++ /dev/null @@ -1,11 +0,0 @@ -# Set some sane defaults for the turtlebot stdr launch environment -##Documentation: -# The colon command simply has its arguments evaluated and then succeeds. -# It is the original shell comment notation (before '#' to end of line). For a long time, Bourne shell scripts had a colon as the first character. -# The C Shell would read a script and use the first character to determine whether it was for the C Shell (a '#' hash) or the Bourne shell (a ':' colon). -# Then the kernel got in on the act and added support for '#!/path/to/program' and the Bourne shell got '#' comments, and the colon convention went by the wayside. -# But if you come across a script that starts with a colon (Like this one), now you will know why. ~ Jonathan Leffler -: ${TURTLEBOT_STDR_MAP_FILE:=`rospack find turtlebot_stdr`/maps/sparse_obstacles.yaml} -# Exports -export TURTLEBOT_STDR_MAP_FILE - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/includes/relays.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/includes/relays.launch.xml deleted file mode 100755 index a58b4da..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/includes/relays.launch.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/turtlebot_in_stdr.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/turtlebot_in_stdr.launch deleted file mode 100755 index 5f71112..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/turtlebot_in_stdr.launch +++ /dev/null @@ -1,96 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png deleted file mode 100755 index e2a69f8..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml deleted file mode 100755 index 2efdc59..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: frieburg.png -resolution: 0.05 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.6 -free_thresh: 0.3 -negate: 0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png deleted file mode 100755 index da32541..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml deleted file mode 100755 index 433c8d9..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: hospital_section.png -resolution: 0.05 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.6 -free_thresh: 0.3 -negate: 0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png deleted file mode 100755 index 9ae899f..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml deleted file mode 100755 index ca6a6e8..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: mines.png -resolution: 0.05 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.6 -free_thresh: 0.3 -negate: 0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png deleted file mode 100755 index a26f734..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml deleted file mode 100755 index 50be01c..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: robocup.png -resolution: 0.03 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.6 -free_thresh: 0.3 -negate: 0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png deleted file mode 100755 index 9baa23d..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml deleted file mode 100755 index 209dcd4..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: simple_rooms.png -resolution: 0.05 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.6 -free_thresh: 0.3 -negate: 0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png deleted file mode 100755 index 4cd0abf..0000000 Binary files a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png and /dev/null differ diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml deleted file mode 100755 index e36f7af..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: sparse_obstacles.png -resolution: 0.02 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.6 -free_thresh: 0.3 -negate: 0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py deleted file mode 100755 index 099fd71..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py +++ /dev/null @@ -1,26 +0,0 @@ -#!/usr/bin/env python -__author__ = 'mehdi tlili' -import rospy -from tf2_msgs.msg import TFMessage -import tf - -class Remapper(object): - - def __init__(self): - self.br = tf.TransformBroadcaster() - rospy.Subscriber("/tf", TFMessage, self.tf_remapper) - - def tf_remapper(self, msg): - - if msg.transforms[0].header.frame_id == "/robot0": - self.br.sendTransform((0, 0, 0), - tf.transformations.quaternion_from_euler(0, 0, 0), - rospy.Time.now(), - "base_footprint", - "robot0") - - -if __name__ == '__main__': - rospy.init_node('remapper_nav') - remapper = Remapper() - rospy.spin() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml deleted file mode 100755 index 6762b88..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml +++ /dev/null @@ -1,26 +0,0 @@ - - - turtlebot_stdr - 2.2.2 - - Stdr version of turtlebot simulation. Convenient to test 2D-navigation related stuffs - - - Mehdi Tlili - Mehdi Tlili - BSD - - http://wiki.ros.org/turtlebot_stdr - https://github.com/turtlebot/turtlebot_simulator - https://github.com/turtlebot/turtlebot_simulator/issues - - catkin - stdr_gui - stdr_robot - stdr_server - stdr_resources - navigation - turtlebot_bringup - yocs_virtual_sensor - yocs_velocity_smoother - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml deleted file mode 100755 index 5e81443..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml +++ /dev/null @@ -1,29 +0,0 @@ -robot: - robot_specifications: - - footprint: - footprint_specifications: - radius: 0.2552 - points: - [] - - initial_pose: - x: 2.0 - y: 2.0 - theta: 0.0 - - laser: - laser_specifications: - max_angle: 0.5 - min_angle: -0.5 - max_range: 5 - min_range: 0 - num_rays: 640 - frequency: 15 - frame_id: laser_0 - pose: - x: -0.1 - y: 0 - theta: 0 - noise: - noise_specifications: - noise_mean: 0.001 - noise_std: 0.00001 - diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz deleted file mode 100755 index ae1177b..0000000 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz +++ /dev/null @@ -1,510 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - - /TF1/Tree1 - - /Local Planning1 - - /Global Planning1 - - /Global Planning1/Planner1 - Splitter Ratio: 0.5 - Tree Height: 810 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan (kinect) -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_rgb_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cliff_sensor_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gyro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_kinect_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: false - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 1 - Min Color: 0; 0; 0 - Min Intensity: 1 - Name: LaserScan (kinect) - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.01 - Style: Squares - Topic: /robot0/laser_0 - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 285 - Min Color: 0; 0; 0 - Min Intensity: 2 - - Name: PointCloud (bumpers) - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /mobile_base/sensors/bumper_pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /map - Value: true - - Class: rviz/Group - Displays: - - Alpha: 0.7 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: false - Name: Costmap - Topic: /move_base/local_costmap/costmap - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 0; 12; 255 - Enabled: true - Name: Planner - Topic: /move_base/DWAPlannerROS/local_plan - Value: true - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: total_cost - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 726.3 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Cost Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /move_base/DWAPlannerROS/cost_cloud - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: total_cost - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 128.275 - Min Color: 0; 0; 0 - Min Intensity: 43.2 - Name: Trajectory Cloud - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.04 - Style: Flat Squares - Topic: /move_base/DWAPlannerROS/trajectory_cloud - Use Fixed Frame: true - Use rainbow: false - Value: false - Enabled: true - Name: Local Planning - - Class: rviz/Group - Displays: - - Alpha: 0.4 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: Costmap - Topic: /move_base/global_costmap/costmap - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 255; 0; 0 - Enabled: true - Name: Planner - Topic: /move_base/DWAPlannerROS/global_plan - Value: true - Enabled: true - Name: Global Planning - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.1 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.2 - Head Radius: 0.1 - Name: Pose (move_base) - Shaft Length: 1 - Shaft Radius: 0.05 - Shape: Arrow - Topic: /move_base/current_goal - Value: true - - Arrow Length: 0.2 - Class: rviz/PoseArray - Color: 0; 192; 0 - Enabled: true - Name: ParticleCloud - Topic: /particlecloud - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Name: Path (global) - Topic: /move_base/NavfnROS/plan - Value: true - - Angle Tolerance: 0.1 - Class: rviz/Odometry - Color: 48; 48; 48 - Enabled: false - Keep: 10 - Length: 0.4 - Name: Odometry - Position Tolerance: 0.1 - Topic: /odom - Value: false - - Class: rviz/MarkerArray - Enabled: false - Marker Topic: /move_base/EBandPlannerROS/eband_visualization_array - Name: EBand boubles - Namespaces: - {} - Queue Size: 100 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: world - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/MoveCamera - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/Select - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/Measure - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 6.89259 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 5.01262 - Y: 4.28547 - Z: -0.424504 - Name: Current View - Near Clip Distance: 0.01 - Pitch: 1.5298 - Target Frame: - Value: Orbit (rviz) - Yaw: 6.14821 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1029 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001e1000003b5fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006901000005fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000033000003b5000000d801000005000000010000010b0000038bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000320000038b000000ab01000005fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000020101000005fb0000000800540069006d006501000000000000045000000000000000000000059c000003b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: -1 - Y: -10 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/CHANGELOG.rst old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/CHANGELOG.rst diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/CMakeLists.txt old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/CMakeLists.txt diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/README.md old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/README.md rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/README.md diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/logitech.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/logitech.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/logitech.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/logitech.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/package.xml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/package.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/param/mux.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/param/mux.yaml old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/param/mux.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/param/mux.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key similarity index 96% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key index 839ce64..68d3067 100755 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key @@ -103,8 +103,8 @@ if __name__=="__main__": control_speed = 0 control_turn = 0 try: - print msg - print vels(speed,turn) + print(msg) + print(vels(speed,turn)) while(1): key = getKey() if key in moveBindings.keys(): @@ -116,9 +116,9 @@ if __name__=="__main__": turn = turn * speedBindings[key][1] count = 0 - print vels(speed,turn) + print(vels(speed,turn)) if (status == 14): - print msg + print(msg) status = (status + 1) % 15 elif key == ' ' or key == 'k' : x = 0 @@ -159,8 +159,8 @@ if __name__=="__main__": #print("target: vx: {0}, wz: {1}".format(target_speed, target_turn)) #print("publihsed: vx: {0}, wz: {1}".format(twist.linear.x, twist.angular.z)) - except: - print e + except Exception as e: + print(e) finally: twist = Twist() diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp diff --git a/autonomous_robotics_ros/src/turtlebot_apps b/autonomous_robotics_ros/src/turtlebot_apps new file mode 160000 index 0000000..4bbafc7 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_apps @@ -0,0 +1 @@ +Subproject commit 4bbafc7bfdfc5888ba03b52611bdb56d86b22967 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation.rviz deleted file mode 100755 index cf63d49..0000000 --- a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation.rviz +++ /dev/null @@ -1,420 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 775 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_radar_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_back_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - caster_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - cliff_sensor_front_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - cliff_sensor_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gyro_link: - Alpha: 1 - Show Axes: false - Show Trail: false - plate_bottom_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_middle_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - plate_top_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_4_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_bottom_5_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_middle_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_0_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_1_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_2_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pole_top_3_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_left_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - wheel_right_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Class: rviz/Polygon - Color: 25; 255; 0 - Enabled: true - Name: Polygon - Topic: /move_base/global_costmap/footprint - Unreliable: false - Value: true - - Alpha: 0.699999988 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Map - Topic: /move_base/global_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 255 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_0 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_1 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 85; 0; 255 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_2 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 170; 0 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_3 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 255; 170; 0 - Enabled: true - Name: Polygon - Topic: /ti_base/slowzone - Unreliable: false - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 255; 0; 0 - Enabled: true - Name: Polygon - Topic: /ti_base/stopzone - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 9.80425835 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.759797156 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.1415 - Saved: ~ -Window Geometry: - Displays: - collapsed: true - Height: 1056 - Hide Left Dock: true - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1855 - X: 65 - Y: 24 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation_2.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation_2.rviz deleted file mode 100755 index 82b208e..0000000 --- a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation_2.rviz +++ /dev/null @@ -1,285 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - Splitter Ratio: 0.5 - Tree Height: 775 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Alpha: 1 - Class: rviz/Polygon - Color: 25; 255; 0 - Enabled: true - Name: Polygon - Topic: /move_base/global_costmap/footprint - Unreliable: false - Value: true - - Alpha: 0.699999988 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: false - Name: Map - Topic: /move_base/global_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 255 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_0 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_1 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 85; 0; 255 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_2 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 170; 0 - Color Transformer: FlatColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 32.9000015 - Min Color: 0; 0; 0 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0399999991 - Style: Spheres - Topic: /xyzi_filt_out_3 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 255; 170; 0 - Enabled: true - Name: Polygon - Topic: /ti_base/slowzone - Unreliable: false - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 255; 0; 0 - Enabled: true - Name: Polygon - Topic: /ti_base/stopzone - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 9.80425835 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.759797156 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.1415 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1056 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1855 - X: 65 - Y: 24 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch index 5af70fd..2d74502 100755 --- a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch @@ -8,7 +8,7 @@ - + diff --git a/autonomous_robotics_ros/src/turtlebot_msgs b/autonomous_robotics_ros/src/turtlebot_msgs new file mode 160000 index 0000000..834c448 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_msgs @@ -0,0 +1 @@ +Subproject commit 834c448fb313ea7edb834d5552211daf53823395 diff --git a/autonomous_robotics_ros/src/turtlebot_simulator b/autonomous_robotics_ros/src/turtlebot_simulator new file mode 160000 index 0000000..beae4b3 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_simulator @@ -0,0 +1 @@ +Subproject commit beae4b3cdf806fe82ab75fd933189c67e89ed8b0 diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.cproject b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.cproject new file mode 100644 index 0000000..ad7c0d2 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.cproject @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.gitignore old mode 100755 new mode 100644 similarity index 58% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore rename to autonomous_robotics_ros/src/yocs_cmd_vel_mux/.gitignore index 17c8732..5fc373a --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.gitignore @@ -1,3 +1,3 @@ /bin -/docs +/build /lib diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.project b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.project old mode 100755 new mode 100644 similarity index 98% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.project rename to autonomous_robotics_ros/src/yocs_cmd_vel_mux/.project index 96cfba1..7b3725c --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.project +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.project @@ -1,6 +1,6 @@ - turtlebot_actions + yocs_cmd_vel_mux diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.pydevproject b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.pydevproject old mode 100755 new mode 100644 similarity index 100% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.pydevproject rename to autonomous_robotics_ros/src/yocs_cmd_vel_mux/.pydevproject diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.settings/language.settings.xml b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.settings/language.settings.xml new file mode 100644 index 0000000..f227359 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/.settings/language.settings.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/CHANGELOG.rst b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/CHANGELOG.rst new file mode 100644 index 0000000..609c818 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/CHANGELOG.rst @@ -0,0 +1,83 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yocs_cmd_vel_mux +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.3 (2014-12-05) +------------------ + +0.6.2 (2014-11-30) +------------------ +* yocs_cmd_vel_mux: fixes node handle for output pub + to keep backwards compatibility +* adds a little launcher restructing for muxer and smoother +* Contributors: Marcus Liebhardt + +0.6.0 (2014-07-08) +------------------ +* updating package informations. remove email for authors. updating maintainer +* Contributors: Jihoon Lee + +0.5.3 (2014-03-24) +------------------ +* Added support for YAML-CPP 0.5+. + The new yaml-cpp API removes the "node >> outputvar;" operator, and + it has a new way of loading documents. There's no version hint in the + library's headers, so I'm getting the version number from pkg-config. + This part of the patch is a port of the ones created by @ktossell for + map_server and other packages. + The new yaml-cpp also does not have FindValue. +* Contributors: Scott K Logan + +0.5.2 (2013-11-05) +------------------ + +0.5.1 (2013-10-14) +------------------ +* Unify naming politics for binaries and plugins. + +0.5.0 (2013-10-11) +------------------ +* Renamed as yocs_cmd_vel_mux. + +0.4.1 (2013-10-08) +------------------ + +0.4.0 (2013-08-29) +------------------ +* Add bugtracker and repo info URLs. +* Changelogs at package level. +* License link fixed. + +0.3.0 (2013-07-02) +------------------ + +0.2.3 (2013-04-15) +------------------ + +0.2.2 (2013-02-10) +------------------ + +0.2.1 (2013-02-08) +------------------ + +0.2.0 (2013-02-07) +------------------ +* Catkinized. + +0.1.3 (2013-01-08) +------------------ +* More generous description. + +0.1.2 (2013-01-02) +------------------ +* Dynamically reconfigurable. +* Upgraded to new groovy plugin formats. +* Add reconfigure launcher and parameter file. +* Add a dynamic reconfigure script to accept a yaml filename. + +0.1.1 (2012-12-21) +------------------ + +0.1.0 (2012-12-05) +------------------ +* Initial version. diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/CMakeLists.txt b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/CMakeLists.txt new file mode 100644 index 0000000..5e4053a --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 2.8.3) +project(yocs_cmd_vel_mux) +find_package(catkin REQUIRED COMPONENTS roscpp pluginlib nodelet dynamic_reconfigure geometry_msgs) + +# pkg-config support +find_package(PkgConfig) +pkg_search_module(yaml-cpp REQUIRED yaml-cpp) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") + +if(NOT ${yaml-cpp_VERSION} VERSION_LESS "0.5") +add_definitions(-DHAVE_NEW_YAMLCPP) +endif() + +# Dynamic reconfigure support +generate_dynamic_reconfigure_options(cfg/reload.cfg) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES ${PROJECT_NAME}_nodelet + CATKIN_DEPENDS roscpp pluginlib nodelet dynamic_reconfigure geometry_msgs + DEPENDS yaml-cpp +) + +include_directories(include ${catkin_INCLUDE_DIRS} ${yaml-cpp_INCLUDE_DIRS}) + +# Nodelet library +add_library(${PROJECT_NAME}_nodelet src/cmd_vel_mux_nodelet.cpp src/cmd_vel_subscribers.cpp) +add_dependencies(${PROJECT_NAME}_nodelet geometry_msgs_gencpp) +add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_gencfg) + +target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} ${yaml-cpp_LIBRARIES}) + +install(TARGETS ${PROJECT_NAME}_nodelet + DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) +install(DIRECTORY plugins + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) +install(DIRECTORY param + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/LICENSE b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/LICENSE new file mode 100644 index 0000000..7c4d17d --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/LICENSE @@ -0,0 +1,31 @@ +# Software License Agreement (BSD License) +# +# Copyright (c) 2012 Yujin Robot, Daniel Stonier, Jorge Santos +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Yujin Robot nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/cfg/reload.cfg b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/cfg/reload.cfg new file mode 100755 index 0000000..193d0b7 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/cfg/reload.cfg @@ -0,0 +1,13 @@ +#!/usr/bin/env python + +PACKAGE = "yocs_cmd_vel_mux" + +from dynamic_reconfigure.parameter_generator_catkin import * + +gen = ParameterGenerator() + +gen.add("yaml_cfg_file", str_t, 0, "Pathname to a yaml file for re-configuration of the mux", "") +gen.add("yaml_cfg_data", str_t, 0, "Yaml-formatted string for re-configuration of the mux", "") + +# Second arg is node name it will run in (doc purposes only), third is generated filename prefix +exit(gen.generate(PACKAGE, "yocs_cmd_vel_mux_reload", "reload")) \ No newline at end of file diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/cmd_vel_mux_nodelet.hpp b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/cmd_vel_mux_nodelet.hpp new file mode 100644 index 0000000..982c244 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/cmd_vel_mux_nodelet.hpp @@ -0,0 +1,119 @@ +/** + * @file /include/yocs_cmd_vel_mux/cmd_vel_mux_nodelet.hpp + * + * @brief Structure for the yocs_cmd_vel_mux. + * + * License: BSD + * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_cmd_vel_mux/LICENSE + **/ +/***************************************************************************** + ** Ifdefs + *****************************************************************************/ + +#ifndef YUJIN_OCS_CMD_VEL_MUX_HPP_ +#define YUJIN_OCS_CMD_VEL_MUX_HPP_ + +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include +#include + +#include "yocs_cmd_vel_mux/reloadConfig.h" +#include "yocs_cmd_vel_mux/cmd_vel_subscribers.hpp" + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace yocs_cmd_vel_mux { + +/***************************************************************************** + ** CmdVelMux + *****************************************************************************/ + +class CmdVelMuxNodelet : public nodelet::Nodelet +{ +public: + virtual void onInit(); + + CmdVelMuxNodelet() + { + cmd_vel_subs.allowed = VACANT; + dynamic_reconfigure_server = NULL; + } + + ~CmdVelMuxNodelet() + { + if (dynamic_reconfigure_server != NULL) + delete dynamic_reconfigure_server; + } + +private: + static const unsigned int VACANT = 666666; /**< ID for "nobody" active input; anything big is ok */ + static const unsigned int GLOBAL_TIMER = 888888; /**< ID for the global timer functor; anything big is ok */ + + CmdVelSubscribers cmd_vel_subs; /**< Pool of cmd_vel topics subscribers */ + ros::Publisher output_topic_pub; /**< Multiplexed command velocity topic */ + std::string output_topic_name; /**< Multiplexed command velocity topic name */ + ros::Publisher active_subscriber; /**< Currently allowed cmd_vel subscriber */ + ros::Timer common_timer; /**< No messages from any subscriber timeout */ + double common_timer_period; /**< No messages from any subscriber timeout period */ + + void timerCallback(const ros::TimerEvent& event, unsigned int idx); + void cmdVelCallback(const geometry_msgs::Twist::ConstPtr& msg, unsigned int idx); + + /********************* + ** Dynamic Reconfigure + **********************/ + dynamic_reconfigure::Server * dynamic_reconfigure_server; + dynamic_reconfigure::Server::CallbackType dynamic_reconfigure_cb; + void reloadConfiguration(yocs_cmd_vel_mux::reloadConfig &config, uint32_t unused_level); + + /********************* + ** Private Classes + **********************/ + // Functor assigned to each incoming velocity topic to bind it to cmd_vel callback + class CmdVelFunctor + { + private: + unsigned int idx; + CmdVelMuxNodelet* node; + + public: + CmdVelFunctor(unsigned int idx, CmdVelMuxNodelet* node) : + idx(idx), node(node) + { + } + + void operator()(const geometry_msgs::Twist::ConstPtr& msg) + { + node->cmdVelCallback(msg, idx); + } + }; + + // Functor assigned to each velocity messages source to bind it to timer callback + class TimerFunctor + { + private: + unsigned int idx; + CmdVelMuxNodelet* node; + + public: + TimerFunctor(unsigned int idx, CmdVelMuxNodelet* node) : + idx(idx), node(node) + { + } + + void operator()(const ros::TimerEvent& event) + { + node->timerCallback(event, idx); + } + }; +}; + +} // namespace yocs_cmd_vel_mux + +#endif /* YUJIN_OCS_CMD_VEL_MUX_HPP_ */ diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/cmd_vel_subscribers.hpp b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/cmd_vel_subscribers.hpp new file mode 100644 index 0000000..d6d5d92 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/cmd_vel_subscribers.hpp @@ -0,0 +1,102 @@ +/** + * @file /include/yocs_cmd_vel_mux/cmd_vel_subscribers.hpp + * + * @brief Structure for the cmd_vel_mux. + * + * License: BSD + * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_cmd_vel_mux/LICENSE + **/ +/***************************************************************************** +** Ifdefs +*****************************************************************************/ + +#ifndef YUJIN_OCS_CMD_VEL_SUBSCRIBERS_HPP_ +#define YUJIN_OCS_CMD_VEL_SUBSCRIBERS_HPP_ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include +#include + +#include + +#ifdef HAVE_NEW_YAMLCPP +// The >> operator disappeared in yaml-cpp 0.5, so this function is +// added to provide support for code written under the yaml-cpp 0.3 API. +template +void operator >> (const YAML::Node& node, T& i) +{ + i = node.as(); +} +#endif + + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace yocs_cmd_vel_mux { + + +/***************************************************************************** +** CmdVelSubscribers +*****************************************************************************/ + +/** + * Pool of cmd_vel topics subscribers + */ +class CmdVelSubscribers +{ +public: + + /** + * Inner class describing an individual subscriber to a cmd_vel topic + */ + class CmdVelSubs + { + public: + unsigned int idx; /**< Index; assigned according to the order on YAML file */ + std::string name; /**< Descriptive name; must be unique to this subscriber */ + std::string topic; /**< The name of the topic */ + ros::Subscriber subs; /**< The subscriber itself */ + ros::Timer timer; /**< No incoming messages timeout */ + double timeout; /**< Timer's timeout, in seconds */ + unsigned int priority; /**< UNIQUE integer from 0 (lowest priority) to MAX_INT */ + std::string short_desc; /**< Short description (optional) */ + bool active; /**< Whether this source is active */ + + CmdVelSubs(unsigned int idx) : idx(idx), active(false) { }; + ~CmdVelSubs() { } + + /** Fill attributes with a YAML node content */ + void operator << (const YAML::Node& node); + }; + + CmdVelSubscribers() { } + ~CmdVelSubscribers() { } + + std::vector>::size_type size() { return list.size(); }; + std::shared_ptr& operator [] (unsigned int idx) { return list[idx]; }; + + /** + * @brief Configures the subscribers from a yaml file. + * + * @exception FileNotFoundException : yaml file not found + * @exception YamlException : problem parsing the yaml + * @exception EmptyCfgException : empty configuration file + * @param node : node holding all the subscriber configuration + */ + void configure(const YAML::Node& node); + + unsigned int allowed; + +private: + std::vector> list; +}; + +} // namespace yocs_cmd_vel_mux + + +#endif /* CMD_VEL_SUBSCRIBERS_HPP_ */ diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/exceptions.hpp b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/exceptions.hpp new file mode 100644 index 0000000..9593938 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/include/yocs_cmd_vel_mux/exceptions.hpp @@ -0,0 +1,55 @@ +/** + * @file /cmd_vel_mux/include/yocs_cmd_vel_mux/exceptions.hpp + * + * @brief Exception classes for cmd_vel_mux. + * + * License: BSD + * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_cmd_vel_mux/LICENSE + **/ +/***************************************************************************** +** Ifdefs +*****************************************************************************/ + +#ifndef YUJIN_OCS_CMD_VEL_EXCEPTIONS_HPP_ +#define YUJIN_OCS_CMD_VEL_EXCEPTIONS_HPP_ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +#include + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace yocs_cmd_vel_mux { + +/***************************************************************************** +** Exceptions +*****************************************************************************/ + +class FileNotFoundException: public std::runtime_error { +public: + FileNotFoundException(const std::string& msg) + : std::runtime_error(msg) {} + virtual ~FileNotFoundException() throw() {} +}; + +class EmptyCfgException: public std::runtime_error { +public: + EmptyCfgException(const std::string& msg) + : std::runtime_error(msg) {} + virtual ~EmptyCfgException() throw() {} +}; + +class YamlException: public std::runtime_error { +public: + YamlException(const std::string& msg) + : std::runtime_error(msg) {} + virtual ~YamlException() throw() {} +}; + +} // namespace yocs_cmd_vel_mux + +#endif /* YUJIN_OCS_CMD_VEL_EXCEPTIONS_HPP_ */ diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/cmd_vel_mux.launch b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/cmd_vel_mux.launch new file mode 100644 index 0000000..38abe32 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/cmd_vel_mux.launch @@ -0,0 +1,13 @@ + + + + + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/reconfigure.launch b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/reconfigure.launch new file mode 100644 index 0000000..135c176 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/reconfigure.launch @@ -0,0 +1,8 @@ + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/standalone.launch b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/standalone.launch new file mode 100644 index 0000000..9e16b6c --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/launch/standalone.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/package.xml b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/package.xml new file mode 100644 index 0000000..86ae76b --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/package.xml @@ -0,0 +1,36 @@ + + yocs_cmd_vel_mux + 0.12.1 + + A multiplexer for command velocity inputs. Arbitrates incoming cmd_vel messages from several topics, + allowing one topic at a time to command the robot, based on priorities. It also deallocates current + allowed topic if no messages are received after a configured timeout. All topics, together with their + priority and timeout are configured through a YAML file, that can be reload at runtime. + + Jorge Santos Simon + Jihoon Lee + BSD + http://ros.org/wiki/yocs_cmd_vel_mux + https://github.com/yujinrobot/yujin_ocs + https://github.com/yujinrobot/yujin_ocs/issues + + catkin + + roscpp + nodelet + dynamic_reconfigure + pluginlib + geometry_msgs + yaml-cpp + + roscpp + geometry_msgs + pluginlib + nodelet + dynamic_reconfigure + yaml-cpp + + + + + diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/param/example.yaml b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/param/example.yaml new file mode 100644 index 0000000..3bce29a --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/param/example.yaml @@ -0,0 +1,42 @@ +# Created on: Oct 29, 2012 +# Author: jorge +# Configuration for subscribers to cmd_vel sources. This file is provided just as an example. +# Typically automatic controllers, as ROS navigation stack should have the minimum priority +# +# Used with example.launch +# +# Individual subscriber configuration: +# name: Source name +# topic: The topic that provides cmd_vel messages +# timeout: Time in seconds without incoming messages to consider this topic inactive +# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT +# short_desc: Short description (optional) + +subscribers: + - name: "Default input" + topic: "input/default" + timeout: 0.1 + priority: 0 + short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here" + - name: "Navigation stack" + topic: "input/navigation" + timeout: 0.5 + priority: 1 + short_desc: "Navigation stack controller" + - name: "Onboard joystick" + topic: "input/joystick" + timeout: 0.1 + priority: 10 + - name: "Remote control" + topic: "input/remote" + timeout: 0.1 + priority: 9 + - name: "Web application" + topic: "input/webapp" + timeout: 0.3 + priority: 8 + - name: "Keyboard operation" + topic: "input/keyop" + timeout: 0.1 + priority: 7 +publisher: "output/cmd_vel" \ No newline at end of file diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/param/reconfigure.yaml b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/param/reconfigure.yaml new file mode 100644 index 0000000..6159ff1 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/param/reconfigure.yaml @@ -0,0 +1,19 @@ +# Another example configuration file, though this one is used to test the dynamic reconfiguration +# of the yocs_cmd_vel_mux. Used with reconfigure.launch. + +subscribers: + - name: "Default input" + topic: "input/default" + timeout: 0.1 + priority: 0 + short_desc: "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here" + - name: "Navigation stack" + topic: "input/navigation" + timeout: 0.5 + priority: 1 + short_desc: "Navigation stack controller" + - name: "Safety controller" + topic: "input/safety" + timeout: 0.1 + priority: 10 + short_desc: "Used with the reactive velocity control provided by the bumper/cliff sensor safety controller" diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/plugins/nodelets.xml b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/plugins/nodelets.xml new file mode 100644 index 0000000..cb7b49c --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/plugins/nodelets.xml @@ -0,0 +1,10 @@ + + + + Implementation for the command velocity multiplexer as a nodelet. + + + + diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/src/cmd_vel_mux_nodelet.cpp b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/src/cmd_vel_mux_nodelet.cpp new file mode 100644 index 0000000..5891baa --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/src/cmd_vel_mux_nodelet.cpp @@ -0,0 +1,248 @@ +/** + * @file /src/cmd_vel_mux_nodelet.cpp + * + * @brief Implementation for the command velocity multiplexer + * + * License: BSD + * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_cmd_vel_mux/LICENSE + **/ +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include +#include +#include + +#include "yocs_cmd_vel_mux/cmd_vel_mux_nodelet.hpp" +#include "yocs_cmd_vel_mux/exceptions.hpp" + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace yocs_cmd_vel_mux { + +/***************************************************************************** + ** Implementation + *****************************************************************************/ + +void CmdVelMuxNodelet::cmdVelCallback(const geometry_msgs::Twist::ConstPtr& msg, unsigned int idx) +{ + // Reset general timer + common_timer.stop(); + common_timer.start(); + + // Reset timer for this source + cmd_vel_subs[idx]->timer.stop(); + cmd_vel_subs[idx]->timer.start(); + + cmd_vel_subs[idx]->active = true; // obviously his source is sending commands, so active + + // Give permit to publish to this source if it's the only active or is + // already allowed or has higher priority that the currently allowed + if ((cmd_vel_subs.allowed == VACANT) || + (cmd_vel_subs.allowed == idx) || + (cmd_vel_subs[idx]->priority > cmd_vel_subs[cmd_vel_subs.allowed]->priority)) + { + if (cmd_vel_subs.allowed != idx) + { + cmd_vel_subs.allowed = idx; + + // Notify the world that a new cmd_vel source took the control + std_msgs::StringPtr acv_msg(new std_msgs::String); + acv_msg->data = cmd_vel_subs[idx]->name; + active_subscriber.publish(acv_msg); + } + + output_topic_pub.publish(msg); + } +} + +void CmdVelMuxNodelet::timerCallback(const ros::TimerEvent& event, unsigned int idx) +{ + if (cmd_vel_subs.allowed == idx || (idx == GLOBAL_TIMER && cmd_vel_subs.allowed != VACANT)) + { + if (idx == GLOBAL_TIMER) + { + // No cmd_vel messages timeout happened for ANYONE, so last active source got stuck without further + // messages; not a big problem, just dislodge it; but possibly reflect a problem in the controller + NODELET_WARN("CmdVelMux : No cmd_vel messages from ANY input received in the last %fs", common_timer_period); + NODELET_WARN("CmdVelMux : %s dislodged due to general timeout", + cmd_vel_subs[cmd_vel_subs.allowed]->name.c_str()); + } + + // No cmd_vel messages timeout happened to currently active source, so... + cmd_vel_subs.allowed = VACANT; + + // ...notify the world that nobody is publishing on cmd_vel; its vacant + std_msgs::StringPtr acv_msg(new std_msgs::String); + acv_msg->data = "idle"; + active_subscriber.publish(acv_msg); + } + + if (idx != GLOBAL_TIMER) + cmd_vel_subs[idx]->active = false; +} + +void CmdVelMuxNodelet::onInit() +{ + ros::NodeHandle &nh = this->getPrivateNodeHandle(); + + /********************* + ** Dynamic Reconfigure + **********************/ + dynamic_reconfigure_cb = boost::bind(&CmdVelMuxNodelet::reloadConfiguration, this, _1, _2); + dynamic_reconfigure_server = new dynamic_reconfigure::Server(nh); + dynamic_reconfigure_server->setCallback(dynamic_reconfigure_cb); + + active_subscriber = nh.advertise ("active", 1, true); // latched topic + + // Notify the world that by now nobody is publishing on cmd_vel yet + std_msgs::StringPtr active_msg(new std_msgs::String); + active_msg->data = "idle"; + active_subscriber.publish(active_msg); + + // could use a call to reloadConfiguration here, but it seems to automatically call it once with defaults anyway. + NODELET_DEBUG("CmdVelMux : successfully initialized"); +} + +void CmdVelMuxNodelet::reloadConfiguration(yocs_cmd_vel_mux::reloadConfig &config, uint32_t unused_level) +{ + ros::NodeHandle &pnh = this->getPrivateNodeHandle(); + + std::unique_ptr is; + + // Configuration can come directly as a yaml-formatted string or as a file path, + // but not both, so we give priority to the first option + if (config.yaml_cfg_data.size() > 0) + { + is.reset(new std::istringstream(config.yaml_cfg_data)); + } + else + { + std::string yaml_cfg_file; + if (config.yaml_cfg_file == "") + { + // typically fired on startup, so look for a parameter to set a default + pnh.getParam("yaml_cfg_file", yaml_cfg_file); + } + else + { + yaml_cfg_file = config.yaml_cfg_file; + } + + is.reset(new std::ifstream(yaml_cfg_file.c_str(), std::ifstream::in)); + if (is->good() == false) + { + NODELET_ERROR_STREAM("CmdVelMux : configuration file not found [" << yaml_cfg_file << "]"); + return; + } + } + + /********************* + ** Yaml File Parsing + **********************/ + + // probably need to bring the try catches back here + YAML::Node doc; +#ifdef HAVE_NEW_YAMLCPP + doc = YAML::Load(*is); +#else + YAML::Parser parser(*is); + parser.GetNextDocument(doc); +#endif + + /********************* + ** Output Publisher + **********************/ + std::string output_name("output"); +#ifdef HAVE_NEW_YAMLCPP + if (doc["publisher"]) + { + doc["publisher"] >> output_name; + } +#else + const YAML::Node *node = doc.FindValue("publisher"); + if (node != NULL) + { + *node >> output_name; + } +#endif + + if (output_topic_name != output_name) + { + output_topic_name = output_name; + output_topic_pub = pnh.advertise(output_topic_name, 10); + NODELET_DEBUG_STREAM("CmdVelMux : subscribe to output topic '" << output_name << "'"); + } + else + { + NODELET_DEBUG_STREAM("CmdVelMux : no need to re-subscribe to output topic '" << output_name << "'"); + } + + /********************* + ** Input Subscribers + **********************/ + try + { + cmd_vel_subs.configure(doc["subscribers"]); + } + catch (EmptyCfgException& e) + { + NODELET_WARN_STREAM("CmdVelMux : yaml configured zero subscribers, check yaml content"); + } + catch (YamlException& e) + { + NODELET_ERROR_STREAM("CmdVelMux : yaml parsing problem [" << std::string(e.what()) << "]"); + } + + // (Re)create subscribers whose topic is invalid: new ones and those with changed names + double longest_timeout = 0.0; + for (unsigned int i = 0; i < cmd_vel_subs.size(); i++) + { + if (!cmd_vel_subs[i]->subs) + { + cmd_vel_subs[i]->subs = + pnh.subscribe(cmd_vel_subs[i]->topic, 10, CmdVelFunctor(i, this)); + NODELET_DEBUG("CmdVelMux : subscribed to '%s' on topic '%s'. pr: %d, to: %.2f", + cmd_vel_subs[i]->name.c_str(), cmd_vel_subs[i]->topic.c_str(), + cmd_vel_subs[i]->priority, cmd_vel_subs[i]->timeout); + } + else + { + NODELET_DEBUG_STREAM("CmdVelMux : no need to re-subscribe to input topic '" << cmd_vel_subs[i]->topic << "'"); + } + + if (!cmd_vel_subs[i]->timer) + { + // Create (stopped by now) a one-shot timer for every subscriber, if it doesn't exist yet + cmd_vel_subs[i]->timer = + pnh.createTimer(ros::Duration(cmd_vel_subs[i]->timeout), TimerFunctor(i, this), true, false); + } + + if (cmd_vel_subs[i]->timeout > longest_timeout) + longest_timeout = cmd_vel_subs[i]->timeout; + } + + if (!common_timer) + { + // Create another timer for cmd_vel messages from any source, so we can + // dislodge last active source if it gets stuck without further messages + common_timer_period = longest_timeout * 2.0; + common_timer = + pnh.createTimer(ros::Duration(common_timer_period), TimerFunctor(GLOBAL_TIMER, this), true, false); + } + else if (longest_timeout != (common_timer_period / 2.0)) + { + // Longest timeout changed; just update existing timer period + common_timer_period = longest_timeout * 2.0; + common_timer.setPeriod(ros::Duration(common_timer_period)); + } + + NODELET_INFO_STREAM("CmdVelMux : (re)configured"); +} + +} // namespace yocs_cmd_vel_mux + +PLUGINLIB_EXPORT_CLASS(yocs_cmd_vel_mux::CmdVelMuxNodelet, nodelet::Nodelet); diff --git a/autonomous_robotics_ros/src/yocs_cmd_vel_mux/src/cmd_vel_subscribers.cpp b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/src/cmd_vel_subscribers.cpp new file mode 100644 index 0000000..40d5ef4 --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_cmd_vel_mux/src/cmd_vel_subscribers.cpp @@ -0,0 +1,107 @@ +/** + * @file /src/cmd_vel_subscribers.cpp + * + * @brief Subscriber handlers for the yocs_cmd_vel_mux + * + * License: BSD + * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_cmd_vel_mux/LICENSE + **/ +/***************************************************************************** + ** Includes + *****************************************************************************/ + +#include + +#include "yocs_cmd_vel_mux/cmd_vel_subscribers.hpp" +#include "yocs_cmd_vel_mux/exceptions.hpp" + +/***************************************************************************** +** Namespaces +*****************************************************************************/ + +namespace yocs_cmd_vel_mux { + +/***************************************************************************** + ** Implementation + *****************************************************************************/ + +void CmdVelSubscribers::CmdVelSubs::operator << (const YAML::Node& node) +{ + // Fill attributes with a YAML node content + double new_timeout; + std::string new_topic; + node["name"] >> name; + node["topic"] >> new_topic; + node["timeout"] >> new_timeout; + node["priority"] >> priority; +#ifdef HAVE_NEW_YAMLCPP + if (node["short_desc"]) { +#else + if (node.FindValue("short_desc") != NULL) { +#endif + node["short_desc"] >> short_desc; + } + + if (new_topic != topic) + { + // Shutdown the topic if the name has changed so it gets recreated on configuration reload + // In the case of new subscribers, topic is empty and shutdown has just no effect + topic = new_topic; + subs.shutdown(); + } + + if (new_timeout != timeout) + { + // Change timer period if the timeout changed + timeout = new_timeout; + timer.setPeriod(ros::Duration(timeout)); + } +} + +void CmdVelSubscribers::configure(const YAML::Node& node) +{ + try + { + if (node.size() == 0) + { + throw EmptyCfgException("Configuration is empty"); + } + + std::vector> new_list(node.size()); + for (unsigned int i = 0; i < node.size(); i++) + { + // Parse entries on YAML + std::string new_subs_name = node[i]["name"].Scalar(); + auto old_subs = std::find_if(list.begin(), list.end(), + [&new_subs_name](const std::shared_ptr& subs) + {return subs->name == new_subs_name;}); + if (old_subs != list.end()) + { + // For names already in the subscribers list, retain current object so we don't re-subscribe to the topic + new_list[i] = *old_subs; + } + else + { + new_list[i] = std::make_shared(i); + } + // update existing or new object with the new configuration + *new_list[i] << node[i]; + } + + list = new_list; + } + catch(EmptyCfgException& e) { + throw e; + } + catch(YAML::ParserException& e) + { + throw YamlException(e.what()); + } + catch(YAML::RepresentationException& e) + { + throw YamlException(e.what()); + } +} + + +} // namespace yocs_cmd_vel_mux diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject b/autonomous_robotics_ros/src/yocs_controllers/.cproject old mode 100755 new mode 100644 similarity index 53% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject rename to autonomous_robotics_ros/src/yocs_controllers/.cproject index 2ece920..73fffca --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject +++ b/autonomous_robotics_ros/src/yocs_controllers/.cproject @@ -3,8 +3,8 @@ - - + + @@ -16,27 +16,27 @@ - - - - - - - - + + + + + + + + - - + + - - - + + + - - + + @@ -45,10 +45,10 @@ - - - + + + diff --git a/autonomous_robotics_ros/src/yocs_controllers/.gitignore b/autonomous_robotics_ros/src/yocs_controllers/.gitignore new file mode 100644 index 0000000..4392efc --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_controllers/.gitignore @@ -0,0 +1,4 @@ +bin +build +lib + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.project b/autonomous_robotics_ros/src/yocs_controllers/.project old mode 100755 new mode 100644 similarity index 98% rename from autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.project rename to autonomous_robotics_ros/src/yocs_controllers/.project index 5bc958d..ab355d8 --- a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.project +++ b/autonomous_robotics_ros/src/yocs_controllers/.project @@ -1,6 +1,6 @@ - turtlebot_rapps + yocs_controllers diff --git a/autonomous_robotics_ros/src/yocs_controllers/CHANGELOG.rst b/autonomous_robotics_ros/src/yocs_controllers/CHANGELOG.rst new file mode 100644 index 0000000..4a7bebe --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_controllers/CHANGELOG.rst @@ -0,0 +1,64 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package yocs_controllers +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.3 (2014-12-05) +------------------ + +0.6.2 (2014-11-30) +------------------ + +0.6.0 (2014-07-08) +------------------ +* updating package informations. remove email for authors. updating maintainer +* Contributors: Jihoon Lee + +0.5.3 (2014-03-24) +------------------ + +0.5.2 (2013-11-05) +------------------ + +0.5.1 (2013-10-14) +------------------ + +0.5.0 (2013-10-11) +------------------ + +0.4.1 (2013-10-08) +------------------ + +0.4.0 (2013-08-29) +------------------ +* Add bugtracker and repo info URLs. +* Changelogs at package level. + +0.3.0 (2013-07-02) +------------------ + +0.2.3 (2013-04-15) +------------------ +* Removes confusing and unnecessary info + +0.2.2 (2013-02-10) +------------------ + +0.2.1 (2013-02-08) +------------------ + +0.2.0 (2013-02-07) +------------------ +* Catkinized. + +0.1.3 (2013-01-08) +------------------ + +0.1.2 (2013-01-02) +------------------ + +0.1.1 (2012-12-21) +------------------ + +0.1.0 (2012-12-05) +------------------ +* Initial version. diff --git a/autonomous_robotics_ros/src/yocs_controllers/CMakeLists.txt b/autonomous_robotics_ros/src/yocs_controllers/CMakeLists.txt new file mode 100644 index 0000000..b10074f --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_controllers/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 2.8.3) +project(yocs_controllers) +find_package(catkin REQUIRED COMPONENTS roscpp) + +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS roscpp +) + +include_directories(include ${catkin_INCLUDE_DIRS}) + +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) diff --git a/autonomous_robotics_ros/src/yocs_controllers/include/yocs_controllers/default_controller.hpp b/autonomous_robotics_ros/src/yocs_controllers/include/yocs_controllers/default_controller.hpp new file mode 100644 index 0000000..109b12e --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_controllers/include/yocs_controllers/default_controller.hpp @@ -0,0 +1,133 @@ +/* + * Copyright (c) 2012, Yujin Robot. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Yujin Robot nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/** + * @file /yocs_controllers/include/yocs_controllers/default_controller.hpp + * + * @brief Definition of a simple controller + * + * @date Nov 30, 2012 + **/ + +/***************************************************************************** +** Ifdefs +*****************************************************************************/ + +#ifndef DEFAULT_CONTROLLER_HPP_ +#define DEFAULT_CONTROLLER_HPP_ + +/***************************************************************************** +** Includes +*****************************************************************************/ + +namespace yocs +{ + +/** + * @brief Controller template + * + * Use this class for implementing various controllers. + */ +class Controller +{ +public: + Controller() : controller_active_(false) + {}; + virtual ~Controller(){}; + /** + * @brief Initialise the controller + * + * Needs to be defined by any class inheriting from SafetyController + * + * @return true, if initialisation was succcessful + */ + virtual bool init() = 0; + + /** + * @brief Enables the controller + * + * @return Returns true, if controller was inactive, false otherwise + */ + bool enable() + { + if (controller_active_) + { + return false; + } + else + { + controller_active_ = true; + return true; + } + }; + + /** + * @brief Disables the controller + * + * @return Returns true, if controller was active, false otherwise + */ + bool disable() + { + if (!controller_active_) + { + return false; + } + else + { + controller_active_ = false; + return true; + } + }; + + /** + * @brief Returns the current state of the controller + * + * @return controller state variable + */ + bool getState() + { + return controller_active_; + } + /** + * @brief For complex controlling work + * + * If needed, implement your complex algorithm here. + */ + virtual void spin() + { + // do nothing + }; + +private: + bool controller_active_; +}; + +} // namespace yocs + +#endif /* DEFAULT_CONTROLLER_HPP_ */ diff --git a/autonomous_robotics_ros/src/yocs_controllers/package.xml b/autonomous_robotics_ros/src/yocs_controllers/package.xml new file mode 100644 index 0000000..02e5bcf --- /dev/null +++ b/autonomous_robotics_ros/src/yocs_controllers/package.xml @@ -0,0 +1,19 @@ + + yocs_controllers + 0.12.1 + + Library for various controller types and algorithms + + Marcus Liebhardt + Marcus Liebhardt + BSD + http://ros.org/wiki/yocs_controllers + https://github.com/yujinrobot/yujin_ocs + https://github.com/yujinrobot/yujin_ocs/issues + + catkin + + roscpp + + roscpp +